Discussion

Left ArrowBack to discussions page
AmeyakarnikAmeyakarnik Posts: 12 Apprentice
Hi,
Can anyone explain me these script codes
(get_applied tcp wrench(2)>25).
I saw this code in (New FT 300 feature).

I also want to program in similar way for my application.

Thanks in Advance
FT.png 99.5K

Best Answers

Comments

  • AmeyakarnikAmeyakarnik Posts: 12 Apprentice
    thanks that helped me .

    when I enter the code  " get _applied_tcp_wrench(4)>25"  and then as I run the Program there is an error telling it is not defined. What is the reason for that?

    anoher question how is this code different from " get_tcp_force() " ?

    Thanks in Advance



  • matthewd92matthewd92 Posts: 736Founding Pro, Tactile Sensor Beta Testers Handy
    What version of poly scope are you running?  That is a rather new feature. 
  • AmeyakarnikAmeyakarnik Posts: 12 Apprentice
    Its version is 3.7.2
  • AmeyakarnikAmeyakarnik Posts: 12 Apprentice
    I also want to know the difference between get_applied_tcp_force()  and get_applied_tcp_wrench() . As i couldnt  find those in UR Script Progamming language
  • AmeyakarnikAmeyakarnik Posts: 12 Apprentice
    Hallo,

    I tried the (reorientation demo with FT300). When the robot moves in the z-axis waiting for the 25 N to be detected and as soon as it detects it does not orient perpendicular. What should i do so that it can orient perpendicular to the surface.

     
  • David_GariepyDavid_Gariepy Posts: 164Beta Tester Beetle, Wrist Camera URCap 1.3.0 Handy
    Hello @Ameyakarnik
    What are you trying to align exactly?
    You'll need a contact large enough to be able to align it on a surface.
    If you try for example to align a part with just a few square inches of contact, it won't be possible. 
    The larger the object, the more moment will be applied so it will be easier to align it flat on the surface. 

    David Gariépy
    Integration Coach
  • AmeyakarnikAmeyakarnik Posts: 12 Apprentice
    I have drawn roughly the front view and side view of thr instrument to be alligned. Its moving down in the slant position (Not perpendicular to the surface). When it detects 25 N on one tooth of clamp. Instead of alligning perpendicular to the surface it retreats back.
  • David_GariepyDavid_Gariepy Posts: 164Beta Tester Beetle, Wrist Camera URCap 1.3.0 Handy
    Could you please post a picture of your program and the setting in the force control node?
    David Gariépy
    Integration Coach
  • AmeyakarnikAmeyakarnik Posts: 12 Apprentice
    Here are the photos. 
  • David_GariepyDavid_Gariepy Posts: 164Beta Tester Beetle, Wrist Camera URCap 1.3.0 Handy
    To avoid bounce back, you can try to untick the adaptive stiffness and set your own. 
    The higher the stiffness, the slower the compensation. I would start with 80% stiffness for the z axis.
    But it is very likely that the point of contact aren't large enough. 
    What is the size of your tool? or could you please post a picture of your setup? 

    Best regards


    David Gariépy
    Integration Coach
  • matthewd92matthewd92 Posts: 736Founding Pro, Tactile Sensor Beta Testers Handy
    Are you trying to rotate the tool while pressing down?  If so, have you tried making the appropriate rotation axis compliant as well?  Otherwise it won’t rotate
Sign In or Register to comment.
Left ArrowBack to discussions page