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MrRaihan_MrRaihan_ Posts: 3 Apprentice
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

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