# Path adjustment according to the forces encountered

**URL:** <https://forum.universal-robots.com/t/path-adjustment-according-to-the-forces-encountered/11448>\
**Category:** URScript\
**Created:** [January 13, 2021, 9:38am UTC](https://forum.universal-robots.com/t/path-adjustment-according-to-the-forces-encountered/11448 "2021-01-13T09:38:29Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon6413606](https://avatars.discourse-cdn.com/v4/letter/a/dbc845/32.png) [@anon6413606](https://forum.universal-robots.com/u/anon6413606)\
**Post date:** [January 13, 2021, 9:38am UTC](https://forum.universal-robots.com/t/path-adjustment-according-to-the-forces-encountered/11448/1 "2021-01-13T09:38:29Z")

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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.

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<div class="post-metadata">

**Author:** ![terryc](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/terryc/32/3006_2.png) [@terryc](https://forum.universal-robots.com/u/terryc)\
**Post date:** [January 14, 2021, 5:54am UTC](https://forum.universal-robots.com/t/path-adjustment-according-to-the-forces-encountered/11448/2 "2021-01-14T05:54:06Z")

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

```auto
force()

```

or you can pull the current force torque vector using:

```auto
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.