Outputting force data to a computer file?


I just started working with the robot a week ago so apologies if this is a dumb question. I have the robot programmed to repeatedly push and pull a handle and I’m interested in the force the robot is exerting to do so; I’m using get_tcp_force() and assigning variables with the force values. After running many cycles, I want to export the force data to an Excel file (or something similar) so I can plot the force against number of cycles to see any changes in the force used to push the handle. What would be the easiest way to do this? Is it possible to use a USB drive to transfer data like this?

For reference I’m using a UR10e with the Robotiq Force Copilot. Thanks!


I don’t know of a finished product that allows this, and there is not any built-in function for this, either.

The only way to achieve this, as far as I know, is to establish an RTDE connection to the robot from a PC and write a Python program to store your values for you. :slight_smile:
This is slightly complicated if you’re new to programming.

Another, equally complicated, way achieve it could be to make a URCap yourself.

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Thanks for replying! I am fairly new to programming (and I’ve never worked with python before :sweat_smile:)… but I’ll look into it. If anyone has any tips on where/how to start it would be greatly appreciated!

There are a few similar topics about exchanging data to a PC. You can find them with Google. :slight_smile:

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