Feedback request : How would you improve the Force-Torque Sensor URCap?

Samuel_Bouchard

We are currently defining what should be the next improvements / feature addition to the FT sensor URCap. Are there current functionalities that should be improved? Why? If you had only one feature to add, what would it be and why?

Catherine_Bernier

To be able to record a path applying a constant force perpendicular to the speed. This could help a lot in deburring, gluing and similar applications.

It would be nice to set this force either using defined values or % of a pressure test done by hand. So the operator could teach the same force he is applying when he does the task manually.

Grady_Turner

@Samuel_Bouchard @Catherine_Bernier

Agreed, a way to easily tell the robot to apply a certain force (with or without motion) at or in between given waypoints.

This can be achieved with the robot force mode but it is not repeatable or accurate.  Also with the new URCaps a user is able to write software tying a force sensor back into the robot's force mode, so it would be great if Robotiq wrote that URCap for the FT sensors.

Samuel_Bouchard

@PaulKeeling what are your thoughts on this?

Adam_Boike

Adding to the comments above, I would like to see something as simple as a realtime update of the sensors data. Of which, could be displayed in sensor's GUI or write straight to the variables tab. Currently, this can be done by assigning variables in a thread, although something a little more user friendly would be beneficial. Ideally, this feature could be used to troubleshoot programs or manually monitor the data.

Alexandre_Pare

When doing path recording, sometimes there is unwanted jiggling at the beginning and end of the program. It would be nice to play the path, stop at some specific points and allow deleting the path before or after that point. This would allow us to eliminate undesired motion at the beginning and end of path option. It would also be nice to be able to split up the path into different segments but then it gets tricky when teaching various segments because you need to stop point of a segment to match the start point of the next one.