Checking the position

Technical Questions URScript
1

Hi!

I have a riveting solution with a UR10e and i want to check teached position to make sure the rivet nut is correctly in the hole. I already manage to make a pose and it will use force until it reach the position.

The problem is I want to make some kind of tolerance to that position what cobot will wait. like few mm since laser cutted parts has some difference in dimensions. So here and there (kinda rarely) UR cant reach position and it will just keep trying to push rivet nut deeper and program is not continuing.

Sorry for my bad english but I hope you get what im looking for

Best Regards,

Antti

2

HI @antti.kojonen

Are you currently checking just the position as the condition to continue the search?

I am not an expert in how the riveting process works for you, but could it make sense to try out the following:

  • Move to the expected position
  • Enable the force mode to find the exact pose.
  • Depending on the setup you can then wait, while the robot try to find the end pose, for the impact (high force) or finding the hole (low force)