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peterpeter Posts: 5 Apprentice
Hi,

Does anyone have example of programming complex path, such as in ring polishing application?

I want to know how to program using 'Force control' by force torque sensor, path function and which relevant.

Thank you.

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  • David_GariepyDavid_Gariepy Posts: 176Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    Hi @peter
    Could you tell us more about your application? 
    Do you plan to have the robot holding the polishing tool or the part to be polished?
    The force control node allows to apply a force in a specific direction and can be used with the path recording, multipoint path or path generator depending on your application.

    If you could provide pictures or videos of your application, we'll be able to recommend the best way to do it


    David Gariépy
    Integration Coach
  • peterpeter Posts: 5 Apprentice
    Hi @David_Gariepy
    My application is ring polishing.
    The robot needs to hold a ring and move the ring to polishing machine.
    While the polishing machine is working, the robot will move the ring simutanously.

    The hard part is the ring has details on every side so the robot should rotate the ring in order to ensure that the ring be polished totally.

    Do you have an application similar to this one?
    Please recommend me.
  • David_GariepyDavid_Gariepy Posts: 176Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    Hello @peter
    What type of tool are you using? 
    You need to polish both the outside and inside of the ring? 
    TO polish the outside i would pick the ring from the inside, then using the Robotiq force control i would apply a force in the base feature in the desired direction and use the path recording to move the part.  This way the robot would apply a constant force while rotating the ring
    For the inside, are you using a different tool? 
    David Gariépy
    Integration Coach
  • peterpeter Posts: 5 Apprentice
    Hello @David_Gariepy
    Thanks for your reply.
    I have one concern when wrist 3 of the robot rotates. If I use tool feature, how can I assign forces because its direction changes all the time? 
  • MarcAntoine_GauthierMarcAntoine_Gauthier Posts: 12Vacuum Beta tester Apprentice
    Hello @peter ,

    As @David_Gariepy mentionned, I would use the Base Feature. That way, the force applied would always be in the same direction.

    Hope this helps.

    Regards.
    Marc-Antoine Gauthier
     
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