Find a bore with angle

Flomz

Hello ! Need help please...
In my application I want to insert a sort of pin in a bore, but this bore is in angle with the top plane (10°) and also in angle with the right plane (20°). First I have used the function called "spiral" to find the bore and when the robot find it, the pin is inserted until the robot find a contact inside.
So my problematic is how can I do to fix the position of the end of my pin, and rotate slowly around this fixed point (like the spiral function incremented gradually) to enter in ? Or is there other possibilities to enter this pin on the right way ?
Thanks a lot !

matthewd92

Do you have your TCP set to the end of the pin?  Is the bore always facing the same way, i.e., once you find the opening you could turn the part and slide it in the same way each time?

Flomz

No, my TCP is not defined, I do not know how to change it either (could you please also teach me ?). 
And the bore will never be presented in the same way because the parts are placed on a conveyor thanks to a robot that makes bin picking. So we can not turn the part because we haven't poka yoke.

Flomz

Ok my falt sorry ! My TCP is well positioned at the end of the pin. In my language it's called PCO that's why I confused. 

matthewd92

There may be a Robotiq skill for this but if we were solving this problem, we would be looking at moments applied to the FT sensor of the robot and then based on the moment that we are seeing we would begin to rotate the pin in the correct direction using pose_trans() calculations.  To do this since the bore you are trying to go down is not always oriented the same way you will need to determine which axes to rotate around based on the moments returned.