Hi DoF pros,

I was wondering if I could achieve a tool space force/torque controller using FT300 as feedback.

Basically, I intend to implement this using tool-space velocity 'speedl()' as controls. In a simple PID loop, I set desired force/torque vector on tool space, FT300 measures the actual value; then calculate the difference, then use PID with this difference, sent to 'speedl()' to close the loop. 

I wonder if this is feasible, any suggestions on this would be greatly appreciated!

Thanks,
Jianlan

@jianlan_

I think you can do it this way.  I did a PID control using the FT300 as a feedback to adjust our Path recording tool and it works.  I never had the opportunity to work with speedl() but with what I know, I think it's gonna work.

@louis_bergeron

Thanks for the answer!  I still have some follow-up questions. Thank you in advance for helping me out.

I forgot to mention that I am using ROS (ur_modern_driver) or any client program on a computer to do this. Would it be possible to call the Path recording API from there?  

Also 'using the FT300 as a feedback to adjust our Path recording tool' , what exactly would you mean by this?  I know the hand-guide part of ActiveDrive is something similar, but how would you 'adjust' path recording by feeding FT300? 


Thank you !
Jianlan

@jianlan_

Sorry about the confusion, It was only an example I have done and it was to tell you that it's possible to do a PID loop with the feedback of the FT sensor.  With ROS... absolutely no idea in that case. 

For your information, the Path recording is a tool Robotiq offer on the UR controller only.