Some questions about the force control

Roland

Hi,

I have some questions about the force control of the UR10; I'd like to give the UR10 a positional limitation while I am applying the force control on it. For example, when I apply a downward force in the z-axis, I want it to be displaced downwards by no more than 10 cm. Do you guys know how to achieve this? I am currently using the official package RTDE. So how should I implement this function in python?

bcastets

You can do that with the force control node of the robotiq force copilot urcap.

Check this video:
https://elearning.robotiq.com/course/view.php?id=7&section=11

You need a license to use force copilot urcap.

Roland

bcastets said:

You can do that with the force control node of the robotiq force copilot urcap.

Check this video:
https://elearning.robotiq.com/course/view.php?id=7&section=11

You need a license to use force copilot urcap.

Thank you, Could this be done by code instead of the urcap?

bcastets

Yes, anything is possible if you code but it may take some time to make it.

Roland

bcastets said:

Yes, anything is possible if you code but it may take some time to make it.

Yes, of course, but I mean, could I achieve this through the RTDE bag in python?
If this is possible, could you give me an example?

Roland

bcastets said:

Yes, anything is possible if you code but it may take some time to make it.

Sorry, actually I’m using the ur_rtde bag not the  RTDE bag. Sorry for the mistake.

bcastets

@Roland
I don t have enough experience with RTDE to advice. Maybe other people from de community will be able to help.

Roland

bcastets said:

You can do that with the force control node of the robotiq force copilot urcap.

Check this video:
https://elearning.robotiq.com/course/view.php?id=7&section=11

You need a license to use force copilot urcap.

Thank you, Could this be done by code instead of using the urcap?

Roland

bcastets said:

You can do that with the force control node of the robotiq force copilot urcap.

Check this video:
https://elearning.robotiq.com/course/view.php?id=7&section=11

You need a license to use force copilot urcap.

Thank you, Could this be done by code instead of the urcap?