# Edge following based on force feedback **URL:** \ **Category:** Technical Questions\ **Tags:** force-torque\ **Created:** [April 19, 2017, 10:02am UTC](https://forum.universal-robots.com/t/edge-following-based-on-force-feedback/684 "2017-04-19T10:02:02Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![anon90092764](https://avatars.discourse-cdn.com/v4/letter/a/ce73a5/32.png) [@anon90092764](https://forum.universal-robots.com/u/anon90092764)\ **Post date:** [April 19, 2017, 10:02am UTC](https://forum.universal-robots.com/t/edge-following-based-on-force-feedback/684/1 "2017-04-19T10:02:03Z")
Hi all, i try to do a demo application same as video below. [https://www.youtube.com/watch?v=mRIigsjqRe0](https://www.youtube.com/watch?v=mRIigsjqRe0) tool of robot will follow the edge of the object based on the force feedback from force sensor. Tried to do the movement in xy based on xy force feedback but did not work. anyone have any idea how to program this? Thanks ---
**Author:** ![jbm](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/jbm/32/614_2.png) [@jbm](https://forum.universal-robots.com/u/jbm)\ **Post date:** [April 21, 2017, 12:13pm UTC](https://forum.universal-robots.com/t/edge-following-based-on-force-feedback/684/2 "2017-04-21T12:13:10Z")
Consider reading the force from the sensor, and create an algorithm to generate the input to a `speedl`or `servoj`command. ---
**Author:** ![system](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/system/32/1_2.png) [@system](https://forum.universal-robots.com/u/system)\ **Post date:** [January 22, 2021, 11:01pm UTC](https://forum.universal-robots.com/t/edge-following-based-on-force-feedback/684/3 "2021-01-22T23:01:26Z")
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