Apparatus and method for automated contact tasks

A method for operating a manipulator and a handling apparatus that includes an actuator coupling a mechanical interface of the manipulator with a holder, on which a tool is mounted, the method comprising:

• positioning the actuator in an end stop position and setting an actuator force, which acts on an end stop of the actuator, to a desired minimum force, while there is no contact between the tool and a surface;
• when the tool contacts the surface and the actuator moves away from the end stop position, increasing the actuator force from the desired minimum force to a desired contact force.

A method, comprising:

• setting an actuator force of a linear actuator, which is coupled to a manipulator, to a desired minimum force acting on an end stop of the actuator, while there is no contact between a tool and a surface;
• and
• increasing the actuator force from the desired minimum force to a desired contact force, when the tool contacts the surface and the actuator moves away from the end stop position.