Using Universal Robots for polishing

Tim_Smith

Hi DOF Pros,


I am currently working on a polishing application using a UR5 and the FT300 sensor. I am running a loop with 4 waypoints inside to give the robot the polishing path. The problem is that the robot pauses between the 4th and the 1st waypoints when going through the loop for the second time.

Does anyone know how to reduce or remove this waiting time when going through the loop? Does anyone have any advice or good practices for polishing/grinding applications?

Thanks in advance!

matthewd92

@Tim_Smith not sure what you mean by waiting time, are you coming to a stop at one of your waypoints, like #4?  If so, you can try placing your first point at the end of the loop so that you have waypoint1...waypoint4, waypoint1 and then place a blend on waypoint 4, also, try using a MoveP if you aren't already.

Afsaar

@Tim_Smith you can also place, before the first waypoint, a start waypoint.
You can place this wp at the beginnig and at the end, then the robot when it will finish, at waypoint 4, it will go at the start position to restart the process. MoveP, @matthewd92, is a good idea to maintain a regular speed.