What function should I use in the program to offset the current path??

Manmur

Hello,

I am new to programming so, If someone can help me by giving an example of how I can program the robot to offset the current path based on the input received from the sensor. So the robot understands every time the sensor is triggered it knows that it needs to offset the current path to avoid the collision. Thank you in advance. 

bcastets

You could do that using move node and a feature point.
This way you can have all you points relative to the feature point. If you want to offset the move you just have to offset the feature point and everything will follow relatively to it.




I would recommend that you check the section "15.5 Basic program nodes>15.5.1 Move" in UR Software manual.

matthewd92

Are you referring to offsetting the path during move execution or prior to a move being executed?

Manmur

Thanks for your reply @matthewd92, I would like to offset the current path only when the sensor from the Modbus is triggered in order to prevent the collision. 

bcastets

Maybe be you could change the TCP when you get the signal from the sensor ?

Manmur

@bcastets yes I thought about this but I was not able to include the new TCP into the program if it is possible please give me a short example. Thank you.

matthewd92

Currently UR does not support real-time path offsetting like other robots do. You could try changing the TCP but you would need to do it incrementally to prevent a sudden acceleration that exceeds what the UR is capable of unless we are talking pretty small adjustments. I’m not sure though if a TCP change during a program execution would make a path change. 

Another option, though not cheap, if you really need to be able to have the robot respond in real-time to obstacles is either the Energid system or the new system from Realtime Robotics. They both provide real time path planning and object avoidance even if the object is moving around. 

Manmur

I figured out a way to do this. I simply created another path by changing the z-axis. So whenever the signal is triggered it automatically changes the path.