Hi Forum,
Just wondering if anyone has written some raw URScript for stacking parts using force_mode() or another method? If you have, would you be willing to share your implementation and it’s pros and cons?
Thanks!
Usually I just move the robot well above the stack location and use the Direction Node’s Until Tool contact. If you really need it in URScript, just create that simple program part in Polyscope, save the program, and open its generated script and copy that into your own function or something.
I’ve managed to write my own force monitoring and position monitoring loops to effectively recreate the Direction:Until Contact node in raw URScript.
I launch a thread to start monitoring the position of the TCP. If the position falls within a bound (up to you to set, I just chose 1mm), the thread sets a boolean marker to true, which a while loop in the main thread checks. If true, the main thread kills the position monitoring thread, issues a stopj(), then breaks out.
Also in the main thread’s while loop, I get_tcp_force(), check the force along certain axes is acceptable, and if it isn’t, execute the same stopping sequence as above, also retracting a configurable amount to stop compression.