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conghui
Posts: 4 Apprentice
How to feed the F/T sensor data into UR'S force control-loops (Force mode). |
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Answered | |
/ Most recent by Sebastian
in Integration
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6 comments |

Hi All,
I just noted that in the release note software version 3.3.x.x from Univeral Robots states that:
External Force/Torque sensors can feed their measurements (directly) into UR's force control-loops (Force mode). - See more at: http://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/release-note-software-version-33xx/#sthash.bw2xRUgc.dpuf
Anyone has experiences on that? For example how to connect the FT300 sensor and feed the data into UR force_mode()?
Thank you!
I just noted that in the release note software version 3.3.x.x from Univeral Robots states that:
External Force/Torque sensors can feed their measurements (directly) into UR's force control-loops (Force mode). - See more at: http://www.universal-robots.com/how-tos-and-faqs/faq/ur-faq/release-note-software-version-33xx/#sthash.bw2xRUgc.dpuf
Anyone has experiences on that? For example how to connect the FT300 sensor and feed the data into UR force_mode()?
Thank you!
Tagged:
UR Script Function:
enable_external_ft_sensor(enable, sensor_mass = 0.0, sensor_measuring_offset = [0.0, 0.0, 0.0], sensor_cog = [0.0, 0.0, 0.0])
@Samuel_Bouchard is Robotiq working on a URCap for this? Could be a great addition to the FT sensors. I know customers would be more comfortable using the sensor data in force mode rather than the +/- 10N force readings generated by the robot.
[email protected]
More info page to share on UR website:
1. http://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/external-ft-sensor-urcap-22231/
2. http://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/real-time-data-exchange-rtde-guide-22229/
@Samuel_Bouchard
I think there is a strong demand over there to feed the F/T data into UR controller!!! We did some test by using the force_mode() function in UR script. There is no accuracy promise and sometime it is difficult to implement own compliance or hybrid control algorithm, CANNOT WAITING FOR ADDING THAT FUNCTION IN YOUR URCAPS
Application Engineer
Robotiq
[email protected]