increase the torque according to the angle

agiakos

Hello all,

I would like to ask if it is possible to increase the torque linearly according to how much the robot tool flange rotates. To give an example, torque increase linearly from 0 to 2Nm in a 90 degrees rotation.

thank you in advance.

David_Levasseur

Hello @agiakos, what robot model do you have? Do you have a Robotiq Force Torque Sensor installed?

agiakos

I have the UR10 and the FTS300 installed

David_Gariepy

@agiakos
I'm not sure but I would try something like this: 
Check initial position and initiate a 1 degree rotation

Then in a thread: 
Compare with current position to get the rotation variation. 
Based on your example I would then take this variation and divide it by 45 (90 degree/45=2NM) and assign it to a "required_torque" variable
If the current torque is below the required_torque, then rotate 1 degree. 

Hope that help