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agiakosagiakos Posts: 15 Apprentice
in General

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.

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Comments

  • David_LevasseurDavid_Levasseur Posts: 161Beta Tester Beetle Handy
    Hello @agiakos, what robot model do you have? Do you have a Robotiq Force Torque Sensor installed?
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  • agiakosagiakos Posts: 15 Apprentice
    I have the UR10 and the FTS300 installed
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  • David_GariepyDavid_Gariepy Posts: 164Beta Tester Beetle, Wrist Camera URCap 1.3.0 Handy
    @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


    David Gariépy
    Integration Coach
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