pressure managment

    dear all,


    i have krc4 , a white robot, which i need to polish industrial marble.
    is there a way to know if there is a pressure on the arm , a3 ,a4 , a5? by getting values of the current position to check changes of it.
    i did it in denso robot which is easy, but it's also a smaller robot.


    any advice or a way will be appricated.


    zeev

    What model robot?


    Do you want to detect contact, or actually measure forces? Do you want to measure forces while in motion? Doing this by measuring the current on the arm motors might be possible, but probably not reliable or precise. Your best approach in this situation is to add the KUKA Force-Torque Control option package, and a multi-axis load cell at the end effector, to allow you to measure the forces precisely and adjust robot motion in realtime.

    dear SkyFire, :respect:


    i want to messaure forcesץ.
    the main idea, is to use sander to polish the marble.
    if i want to check the current on the axis, how can i get this info?


    i will also ask kuka regarding thier force-torque control option package and the cost of it.


    i using KRC4 with KR90R2700 robot.


    thanks for the help

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