Moving along a curved surface in force mode

Technical Questions URScript
1

Hello,

I am relatively new to URScript and am trying to understand the force_mode options for our application.

I need to program the UR to move along a curved surface and apply a fixed force perpendicular to the surface. I know the waypoints that will make the robot tool frame stay normal to the surface, but, I am not sure how to set the force mode frame.

When configuring force mode, how do I specify a “moving” force frame what is aligned with the tool as it moves along the surface?

thanks for your help.
Ravi

2

The Support Site article on Dynamic Force Control may be what you are looking for.
Or in general, updating the Force Mode frame from a Thread could do the job.

3

Thanks for the response.

Having a separate thread that calls force_mode with the latest tool_pose is a solution as you suggest. I don’t quite understand how the motion-force and point-force modes work and was wondering if one of those could make this use-case easier to program.

Ravi