Apparatus and method for automated contact tasks

An apparatus for automated contact tasks, the apparatus comprising:

• a mechanical interface for connecting the handling apparatus to a manipulator;
• a holder for receiving a tool, the holder being movable in relation to the mechanical interface;
• at least one actuator for positioning the holder in relation to the mechanical interface;
• a sensor unit configured to sense an actuator force provided by the at least one actuator;
• and
• a control unit that is configured to:
• set the actuator force to a desired minimum force to press the holder against a stop, while there is no contact between the tool and a surface;
• detect contact when the holder moves in relation to the mechanical interface in opposition to the direction of the desired minimum force;
• and
• regulate the actuator force according to a pre-programmed contact force time-characteristic, when contact between the tool and the surface has been detected, wherein, once contact has been detected, the actuator force is increased from the minimum force to a desired contact force.