how we can use circle move under the force function in universal robot. ?

amir_mulla

I am using the force function of UR5e for circle move under move P, it is difficult to draw a full circle. Does anybody know how we can achieve that? Please share any demo code for that. Your help will be highly appreciated.

matthewd92

You have to make 2 half circles with Polyscope to create a full circle. The circle command only does 180 degrees 

amir_mulla

Thanks @matthewd92 for your response, actually I am facing the issue  with the force function, whenever I am trying to draw a circle under force function, the robot changes its position and not follow the shape.

matthewd92

Which axes do you have set to be compliant and how does that relate to your motion?  For instance if the circle motion you are trying to make is on the X-Y plane but you have the X or Y axis to be set to compliance then the motion will not necessarily follow the circle path, especially if your forces and motion limits are not set correctly.  We find that turning down the motion limits to something more like 10-20 mm/s makes for better path following, otherwise the robot can move too fast and it causes issues. 

Generally when we are using force we are giving compliance in axes that we are not moving in.  For instance if we are moving in the Z direction we might allow the robot to be compliant in the X and Y axes so that we can use the lead-in on a part for example to allow the part to more smoothly enter a hole.