Hello,
I am having a problem using force mode. I have to draw on a plan with a marker.
I pilot the robot in force mode so as not to damage the marker and keep contact with the surface.
I calculate the position of different points. When I run the program the robot does not go to the calculated points.
The trajectories are wrong but reproducible. If I run the program without force mode everything is ok, the TCP goes on the calculate position.
Here is a part of my program:
freedrive_mode()
sleep (5.0)
end_freedrive_mode()i_Reloc≔get_actual_tcp_pose()
p_contact_piece≔pose_trans(i_Reloc,p[0,0,0,0,0,0])
p_point1≔pose_trans(i_Reloc,p[0.105,0.14,0,0,0,0])
p_point3≔pose_trans(i_Reloc,p[0.105,0.49,0,0,0,0])
p_point22≔pose_trans(i_Reloc,p[-0.87,0.14,0,0,0,0])
p_point24≔pose_trans(i_Reloc,p[-0.87,0.49,0,0,0,0])zero_ftsensor()
force_mode(tool_pose(), [0, 0, 1, 0, 0, 0], [0.0, 0.0, 2, 0.0, 0.0, 0.0], 2, [0.1, 0.1, 0.15, 0.17, 0.17, 0.17])movel(p_contact_piece, a=1.2, v=0.25)
movel(p_point1, a=1.2, v=0.25)
movel(p_point22, a=1.2, v=0.25)
movel(p_point24, a=1.2, v=0.25)
movel(p_point3, a=1.2, v=0.25)
movel(p_point1, a=1.2, v=0.25)end_force_mode()
In this picture you can see my test trajectory.
Please can you help me or tell me where I made a mistake.