Control the UR10e vias UR_RTDE in ForceMode

Technical Questions Robot Communication
1

Hello,

Im using the UR10e with UR_RTDE and i am controlling the robot in ForceMode. Now the thing that i want to do is, that the robot should be controlled in ForceMode on the z-Axis to hold the contact with a subject with for example 10 N, and at the same time i want to control the robot on the x- and y-Axis via speedL.

So my question now is, if it is possible to do this or is there any other solution to control the robot speeds while being in ForceMode?

Thanks for your help.

Best regards
Alex

2

Hi,

in PolyScope GUI, it can be programed like below:

image
image1084×658 35.1 KB

you can send the script to controller like below:

force_mode(p[0.0,0.0,0.0,0.0,0.0,0.0], [0, 0, 1, 0, 0, 0], [0.0, 0.0, 10.0, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.01, 0.3490658503988659, 0.3490658503988659, 0.3490658503988659])
speedl([0.1,0.1,0,0,0,0], 0.5, 0.5)
end_force_mode()
3

Thanks for your answer, but in that case, its still not possible to control the robot in the x- and y-Axis in speed mode at the same time.