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UR scrip code used in FT300
/ Most recent by matthewd92
Ameyakarnik Posts: 12 Apprentice
David_Gariepy Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 190 Handy@Ameyakarnik
It refers to the force applied to the TCP in the specific axisIn the provided example, the program wait for a 25N force in Z
wait get_applied <em>tcp</em> wrench(2)>25Then wait for my to be below 0.1n
<div><span>wait get_applied </span><em>tcp</em> wrench(4)>0.1</div><div></div>The number between the parenthesis representing the corresponding axis0-1-2-3-4-5 representingx-y-z-mx-my-mzDavid Gariépy
David_Gariepy Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 190 Handy
I'm sorry, I wasn't aware of it but it's the same function that has been renamed.
The correct one is
when I enter the code " get _applied_tcp_wrench(4)>25" and then as I run the Program there is an error telling it is not defined. What is the reason for that?
anoher question how is this code different from " get_tcp_force() " ?
Thanks in Advance
I tried the (reorientation demo with FT300). When the robot moves in the z-axis waiting for the 25 N to be detected and as soon as it detects it does not orient perpendicular. What should i do so that it can orient perpendicular to the surface.
What are you trying to align exactly?
You'll need a contact large enough to be able to align it on a surface.
If you try for example to align a part with just a few square inches of contact, it won't be possible.
The larger the object, the more moment will be applied so it will be easier to align it flat on the surface.
The higher the stiffness, the slower the compensation. I would start with 80% stiffness for the z axis.
But it is very likely that the point of contact aren't large enough.
What is the size of your tool? or could you please post a picture of your setup?