I want to create a program in Polyscope v5.22 to sand the surface of the truncated cone shown in the image using a rotary tool.
I have structured the program as follows:
• I have a UR20 to perform this test, although the ideal solution for the client would be to use a UR5e.
• Knowing the diameter and height measurements, I generate consecutive points that create an ascending spiral path around the cone and parallel to its wall.
• I move with the instruction: servoj( get_inverse_kin (BASE_POINT), 0, 0, 0.02, 0.1, 300)
• I insert this path into a native UNIVERSAL ROBOTS instruction with FORCE-POINT MODE, Force = 15 N, vel_lim = 500 mm/s, referring to a point created within the cone.
• This creates two problems for me:
o The tool doesn’t fully surround the cone while maintaining contact
o I would need the point I’m working on in FORCE POINT MODE to be mobile as I go up the spiral
• I have a few ideas:
o Can I use FORCE MODE-motion?
o Could I do it better in Polyscope X?
o Would I need an external sensor?
How can we keep this working?
