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c1374153548c1374153548 Posts: 10 Apprentice
Hello, I'm a graduate student and I am going to use ur3e to do grinding and polishing through ROS.
However, I find the force torque sensor is becoming bigger and bigger when I use ROS to control it.
The agent said that using force mode can get the correct data.

Here is my problem.

Why does sensor data change with robot mode?

I try to add an external control in force mode, but the robot starts moving(I have not found the cause), which means that I can't use ROS under force mode.

If there is a method that I can successfully read the ft sensor data from ur3e through ROS?

Looking for your reply, thank you very much.

Comments

  • bcastetsbcastets Vacuum Beta tester Posts: 326 Handy
    If you want to make your own force control algorithm using ROS, I would recommend that you directly connect the FT300 on your PC and work with the raw data of the sensor.

    Force mode is a preprogrammed force control algorithm. It will not fit if you want to make your own force control algorithm.

    For your information we have a ROS package for the FT300:
    http://wiki.ros.org/robotiq_ft_sensor?distro=kinetic
  • c1374153548c1374153548 Posts: 10 Apprentice
    Do you mean that E series's integrated force sensors can not get the correct force data in the position mode?

    So I have to use external FT sensor to realize force control with ROS?
  • bcastetsbcastets Vacuum Beta tester Posts: 326 Handy
    Sorry my mistake ! I though you was using a CB with FT300. For eSerie you can get force sensor data via robot client interface. Then you can work with it as you want.
    I don't think you need force control mode.

    UR have some ROS package. Maybe you can find something here:
    https://github.com/UniversalRobots/Universal_Robots_ROS_Driver
  • c1374153548c1374153548 Posts: 10 Apprentice
    But when I don't read data in force mode, it gets bigger and bigger. This is not normal.
    I sent the robot back to the agent for inspection, and they said it would take force mode to read correctly.(They said all e-series in their company have this problem)
    At present, the robot has been sent back, but the problem is still unsolved. I can't set the robot to force mode under ROS, and if I start external ROS control in force mode, it will move without giving instructions to the robot.

    My ultimate goal is to read correct force torque data in ROS. 
  • bcastetsbcastets Vacuum Beta tester Posts: 326 Handy
    I see. It did not now about this deviation behaviour.
  • c1374153548c1374153548 Posts: 10 Apprentice
    Sorry, I didn't understand you.
  • c1374153548c1374153548 Posts: 10 Apprentice
    bcastets said:
    If you want to make your own force control algorithm using ROS, I would recommend that you directly connect the FT300 on your PC and work with the raw data of the sensor.

    Force mode is a preprogrammed force control algorithm. It will not fit if you want to make your own force control algorithm.

    For your information we have a ROS package for the FT300:
    http://wiki.ros.org/robotiq_ft_sensor?distro=kinetic

    Do you mean that ROS can not use ur3e integrated force sensor? 
    So should I use ft300 with ROS?
  • c1374153548c1374153548 Posts: 10 Apprentice
    bcastets说:
    如果您想使用ROS来制定自己的力控制算法,我建议您直接将FT300连接到PC上并使用传感器的原始数据。

    力模式是一种预编程的力控制算法。如果您想制作自己的力控制算法,则不合适。

    供您参考,我们为FT300提供了ROS软件包:http ://wiki.ros.org/robotiq_ft_sensor?distro = kinetic

    您是说ROS无法使用ur3e集成式力传感器吗? 
    那么我应该将ft300与ROS一起使用吗?
  • c1374153548c1374153548 Posts: 10 Apprentice
    bcastets said:
    If you want to make your own force control algorithm using ROS, I would recommend that you directly connect the FT300 on your PC and work with the raw data of the sensor.

    Force mode is a preprogrammed force control algorithm. It will not fit if you want to make your own force control algorithm.

    For your information we have a ROS package for the FT300:
    http://wiki.ros.org/robotiq_ft_sensor?distro=kinetic
    Do you mean that E series integrated force sensors can not get the correct force data in the position mode?

    So should I use ft300 with ROS?
  • c1374153548c1374153548 Posts: 10 Apprentice
    bcastets said:
    If you want to make your own force control algorithm using ROS, I would recommend that you directly connect the FT300 on your PC and work with the raw data of the sensor.

    Force mode is a preprogrammed force control algorithm. It will not fit if you want to make your own force control algorithm.

    For your information we have a ROS package for the FT300:
    http://wiki.ros.org/robotiq_ft_sensor?distro=kinetic
    Do you mean that E series's integrated force sensors can not get the correct force data in the position mode?

    So I have to use external FT sensor to realize force control with ROS?
  • c1374153548c1374153548 Posts: 10 Apprentice
    bcastets said:
    If you want to make your own force control algorithm using ROS, I would recommend that you directly connect the FT300 on your PC and work with the raw data of the sensor.

    Force mode is a preprogrammed force control algorithm. It will not fit if you want to make your own force control algorithm.

    For your information we have a ROS package for the FT300:
    http://wiki.ros.org/robotiq_ft_sensor?distro=kinetic
    Do you mean that E series's integrated force sensors can not get the correct force data in the position mode?

    So I have to use external FT sensor to realize force control with ROS?
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