Back to discussions page
Access to force mode & multipoint trajectory WPs
/ Most recent by manish
My goal is to use force control along a specific trajectory defined. To this end I mounted an FT300 sensor on the robot. Using structures given by the URCap ("force control" and "multipoint trajectory") for preliminary experiments, the desired behaviour can be reached.
On to the next step : the trajectory is in reality time-varying and defined through vision of certain features. It should allow to set the waypoints inside the "multipoint trajectory".
The problem that I am faced with is that I cannot access the values of the WPs in the program. In particular, I'd like to use URScript and socket communication to modify WPs dynamically, but it seems that WP values are not hardcoded in the generated script file. Instead, something called node_rpc_server is used.
Here is a bit of code to highlight what I am talking about. See how WP value is hardcoded in the movej() command while no WP value shows during force control with the URCap.
My question is to know if WP values during force control can by reached and even modified by communicating with node_rpc_server or by any other means.
I hope this questions is not redundant, a quick research on this website yielded nothing.