Pin Insertion with Misaligned Hole

lauriefisk 2018-04-02

I have an application where I need to test holes for perpendicularity using pin insertion. These holes are meant to be drilled perpendicular to the table surface but are occasionally drilled at an angle. I would like to use the FT sensor with the UR to test these holes. Is there any program or template that can be used in this case? I've browsed the Skills but none seem to do quite what I need.

David_Gariepy 2018-04-06

Hi @lauriefisk,

We currently don't have this function but this is something we are working on.
Unfortunately, I don't have an official release date yet.

datarobot 2018-07-14

I note the FT300 works with UR force mode. Does that mean things like pin insertion are taken care off directly by UR functions now? - https://dof.robotiq.com/discussion/906/perform-lots-of-new-high-precision-force-control-tasks-with-the-new-ft-300

David_Levasseur 2018-07-30

Indeed @datarobot , you can now use the data from the FT 300 in your force nodes. The Robotiq skills can still help you in many ways however.