Path adjustment according to the forces encountered

Technical Questions URScript
1

Hello,

I am using an UR3e and i would like to use the E-series force sensor to adjust an insertion path according to the forces encountered.

I know there is a Robotiq URcap (Force copilot) capable of doing this, but i would like to know if it is possible to do with with just urscript language.

I’ll appriciat it if anyone can provide any leads.
Thank you.

2

At any time you can pull the total magnitude of the built-in sensor with:

force()

or you can pull the current force torque vector using:

get_tcp_force()

would the force_mode() function work for you at all? It gives you a couple of different options for making the gripper a little more conformant to the things around it.

You can specify the robot to exert a force in a certain axis, or you can have the robot move along one axis, but also allow a certain level of path deviation around another axis based on the force it detects. The caveat is that I don’t believe you can allow path deviation in an axis you are controlling.