Path recording with conveyor tracking and adjustment based on force (UR)

bsawlor

I asked already about path playback with conveyor tracking, I know that may be possible, would that be possible while also using the force feedback and keeping either exact pressure along the path, or detecting when somethings been hit and backing away slightly?

This type of application would be applying sealant to conveyored part with consistent pressure.

JeanPhilippe_Jobin

"Conveyor tracking" and "force control" are two separate fonctions that would be interesting to address with path recording. At this moment, I don't see why it would not be possible to combine them if we are able to make them work individually. Please note that the development of such functions have not yet been prioritized at Robotiq.

@bsawlor
Can you explain me why and in which situation you would like to apply a constant pressure for applying sealant? Sorry for my ignorance but I thought that for such application only the position of the sealing gun relative to the part (as well as the robot speed and the sealing feed rate) was important? Do you have any video or pictures?

bsawlor

@JeanPhilippe_Jobin With this app, there are a few things at play.  The conveyor the parts are on is an overhead conveyor moving beside the base of the arm and with the way they are moving, they could either:
1) sway slightly with pressure applied or
2) might not be in the exact same position each time (conveyor is the X axis, so the pressure/detection would be in the Y axis)

The specific's of this would require the ability to
1) move to the part until a force is detected in the Y axis, due to either sway or variation position in the Y axis
2) start the path playback with the ability to maintain a constant force on the door, accommodating for if the part moves closer or further from the base, with conveyor tracking keeping in pace with the part

At this point the implementation has I think 4 sections of points for different places on the part. 

This capability would remove the challenges dealing with this type of issue.
http://dof.robotiq.com/discussion/351/using-pose-add-and-pose-trans-to-adjust-a-plane-on-the-fly-gives-inconsistent-results