Force Spiral Search

MrRaihan_

HI , i am currently an intern and my company asked me to find a way for the UR 10 to use a force spiral search (?)
E.g, if the component if going towards the slot and it hits the side of the slot, it will slightly retract and move on a spiral motion to find the slot until it is slotted in.
can anyone help me with this ?
really desperate to find this solution. 

component used : Robotiq force torque sensor 150, Robotiq 2 finger gripper, Universal robot 10

louis_bergeron

Have you tried the skill spiral search in combinaison with the skill linear search?

You can download them on the skills web site here:
http://skills.robotiq.com/

You must create an account, it's free.

MrRaihan_

louis_bergeron

I already tried downloading the file. but upon opening the file in UR 10, it prompt me this sign. can you assist me on this ?

David_Levasseur

Hi @MrRaihan_,
What is the current version of your Polyscope? Have you tried updating it?

Etienne_Samson

@MrRaihan_ @David_Levasseur got the same bug yesterday, you need Polyscope 3.4.X to avoid this.