Applying a force

ruddock111

I have a UR10 set up with an FT300 sensor and am looking to apply a force along an axis. Instead of using waypoints to apply a force, is there a way to apply a set force

Matthew Ruddock  

David_Gariepy

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.