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ruddock111
Posts: 18 Apprentice
Applying a force |
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/ Most recent by David_Gariepy
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David_Gariepy Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 190 Handy
Hi Matthew,
Using the Force control node, you can apply a force either in tool or base, and tick the enable control for the desired axis.
You can then enable the adaptive stiffness or choose your own.
The stiffness act as a compensation gain for the force control node. The lower the stiffness, the faster is the compensation. Hold the test button to check the behavior.
You could then use a wait command inside the force control node with specific conditions to exit the force control node.
David Gariépy
Integration Coach