I have been experimenting with using force mode on my UR3. After an initial learning curve I appear to have figured out the basics. I have the robot going down until a certain force is applied and then the robot goes back up out of the hopper. However, when the robot completes the program’'s cycle it appears to lose precision to its movements. Normally I can hit the same point in a program with remarkable precision, often within a millimeter or less. However, after using force mode in just one part of my program I have found the robot missing a waypoint by as much as an inch! Is this expected behavior?
Are you programming in script or polyscope?
Did you turn off the force mode after leaving your bin? end_force_mode()
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