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Home > Programming > Force Instruction Help / Bug?
T800_412

This may be a bug, or perhaps I need some help. Objective, apply downward force with the gripper, while closing the gripper. This is to ensure the part is fully into the gripper when picked.

Current program moves the gripper down to the part using

palm_touch:=rq_linear _search("z+", 10, 0.025, 0.01)
Force
    MoveL
       Waypoint_x (relative, shift x and y by 15mm)
    Gripper Close (1)
Force is configured as Feature Tool, Type Frame, with Z as compliant with 40N and 120mm/s (in test mode, this successfully pushes downward as desired)

The expectation from the code is that the gripper will push down while doing the MoveL waypoint, and then still push down while the gripper closes. What I am seeing is the gripper pushes down while moving to the waypoint, but then drifting up while the gripper is closing. Why?
David_Gariepy

Hi @T800_412

Using the linear search with 120mm/s is pretty fast. By default, we use 4mm/s. Using 120mm/s, it is likely that once the robot stops, the force might be much higher than 40N.  If the contact is stiff, I would guess it reaches 100N or more.  So when you enter the force wizard, since the force applied is way above the desired force, the robot will move up.  Try with a really slow linear search to see if you get the same result. Also, check the force applied from the variable tab to validate what i just said.

regards