Author Topic: Get the force value along trajectory  (Read 86 times)

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Offline robotirocinio

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Get the force value along trajectory
« on: June 12, 2017, 09:49:58 AM »
Hi,
I have just started programming robots and in particular I am programming a Staubli robot.
For my application I need to know if it is possible to get the force value, instant for instant, during the trajectory the robot is describing. I'm interested to know whether there is an internal command or something similar that allows me to have the forces value  that the robot uses during the trajectory in the three directions.

Thanking in advance,
Regards.

Offline alejho

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Re: Get the force value along trajectory
« Reply #1 on: June 19, 2017, 02:46:16 PM »
Hi,
You can do this with a function called "exernalForce" but the result will be really noisy and reliable only in static condition...you should invent some way to filter it.
This function is not available in the standard val3 language but is parte of a free "addon"..contact the Staubli support for furhter informations!

Ciao!