Speedl() with Force sensor feedback

[dgonzalez]

Hello,

I’m trying to write a script that uses the speedl() command and force sensor readings as an input. This is for a grinding operation where we want the grinder to follow the contour of the part. We originally tried to use the force command but it either intermittently bounces when it contacts or it will completely veer off.

Cobot Grinding Application

[robin_gdwl]

What force sensor are you using?

[dgonzalez]

The one that is built into the robot. We tried zeroing the force sensor and dampening function but still not having the result we want. I was reading other posts with similar issues and they seem to be using speedl() with force feedback but I’m not sure how to write the script to use this approach.

[robin_gdwl]

Could you link the post you mentioned?

[dgonzalez]

Force_mode, bouncing at contact!

I found that someone else got same issue as me, so I will link to that post. We are working on peg-in-hole task, which involves holding a rigid object in the gripper and applying specific force on the surface where peg should be inserted. We experience the issue of bouncing as well. When contact is made with the surface of the board/ hole the gripper jumps in the opposite direction instead of applying specified wrench. We did zero_ftsensor() before initiating force mode We did convert wrenc…