Spiral search function

Technical Questions URScript
1

I need help with the spiral search function. Unfortunately, I can’t find the required commands anywhere. I need the spiral function to let the robot find the hole in which it should dive. could anyone help me ?

I have an UR10e with SW Version 5.14.

Thanks a lot and a nice weekend.

2

This is not a feature in Polyscope. :slight_smile: You’ve probably seen it in an OnRobot URCap or similar. You will need an OnRobot FT tool connected to your robot to use this.

3

You can achieve something similar to a spiral with this script:

2024-08-01 21-04-24(2)

step = 0.02
start_radius = 0.01
center_pose = p[0.526, -0.133, 0.368, -2.09, 2.09, -0.27]
rotations = 10

movel(center_pose)

i = 0
while i < rotations:
    r = start_radius + i*step
    p1 = pose_trans(center_pose, p[r, 0, 0, 0, 0, 0])
    p2 = pose_trans(center_pose, p[0, r, 0, 0, 0, 0])
    movec(p1, p2, r=0.01)

    p3 = pose_trans(center_pose, p[-r, 0, 0, 0, 0, 0])
    p4 = pose_trans(center_pose, p[0, -r, 0, 0, 0, 0])
    movec(p3, p4, r=0.01)

    i = i + 1
end