Force measuring at tool flange

Technical Questions URScript
1

Hello

I am trying to record the force the robot is creating on an object.

I will try to explain my steps, and ask you guys if I have done it right or if you have any improvement suggestions for me.

some mm before touching the object the movement stops
then I run zero_ftSensor()
wait 0.5sec
then I start recording the forces in a script started in an own thread:
tcp_force = get_tcp_force()
force_x = tcp_force[0]
force_y = tcp_force[1]
force_z = tcp_force[2]
if force_x > force_syr_att_x:
global force_syr_att_x = force_x

and so on…

and parallel the robot makes the move to the object
with acceleration of 100mm/s2
and speed of 250mm/s
just to avoid a high force reading because of the too high acceleration.
and on the end of the movement the robot waits there for some seconds and then the read force script is also stopped.

Is this correct?
whats your opinions?

Thanks in advance

2

Looks fine to me. :slight_smile:
Only one thing, which you might be doing but didn’t mention: Put a wait before the zeroing of the FT sensor, as well as after.
It will allow the tool to settle down from coming up to the stop after moving. If the tool has some inertia you might get a bad zeroing if it is oscillating slightly.