Using Force Control Node with Multipoint Path

aluu 2018-12-18

Hello,

I am using the teach pendent on a UR10 trying to implement a multipoint path with the force control node on a UR10, however am not having much success. I am able generate a multipoint path however it does not use the force control that I've set.

I am using the FT300 and have the Force Copilot URCap (UCS-1.8.0 for PolyScope 5.1.2+).

Any help on this would be greatly appreciated. Thanks!

David_Gariepy 2018-12-18

Hi @aluu

Could you please share a picture of your force control setup?

Did you try to use a lower stiffness to see if it changes the behavior?

aluu 2018-12-19

David_Gariepy said:

Hi @aluu

Could you please share a picture of your force control setup?

Did you try to use a lower stiffness to see if it changes the behavior?

Hi @David_Gariepy

I have attached a screenshot of the setup. zoom

I have tried it with 50 and 0% stiffness, but it hasn't changed the behaviour. The force control is under a find surface node which is set to a force threshold of 1.5N as well in the Z+ direction and this works fine.

I am also wondering, when I define the multipoint path, should the waypoints already be on the surface?

ModernDave 2019-02-22

I believe you are having issues because you are attempting to apply less than .4 lbs of pressure. I have bad results under 5 Neutons.

What tool are you trying to use? If your tool has any vibration or rotating mass, it will cause minor interference with the sensor. (also overcome by applying more force.)

When I program my multipoint path I set the points as close as I can to the surface without touching the surface.