Align part surface with a plane using Robotiq Force Copilot
/ Most recent by bcastets
Surface alignment is sometime required in assembly application.
In this article, I present a possible way to use Robotiq Force Copilote force control node to
align the surface of a part with a plane.
The TCP is place at the center of the surface of the part
The CoG is placed using the UR wizard.
To align surfaces, I use 2 methods:
1/ A force control node which apply a force of 30N on TCP frame Y axis and free rotation around TCP X and Z axis.
2/ A force control node which apply a force of -30N on base frame Z axis and free rotation around base frame X and Y axis.
In both cases, I keep “adaptive stiffness” checked so that the robot automatically adjust its sensitivity when it enter in contact with the surface. This prevents the robot from over reacting when surfaces collide with each others.
The second method have the best results but it requires to have the alignment surface with same orientation as the base frame.
Here below is the video: