Hello, I would like to know if it is possible to follow the profile of a metal part with a tool.
I defined my trajectory with several points, which I would join in movements "LIN" or "CIRC", as in the first figure.
I would like to know if it is possible to use the sensitivity of the robot to add an additional force that would allow the tool to follow the profile of the part perfectly (the red arrow on the second figure)
I tried to use impedance control mode with those parameters (Which correspond to the orientations of my tool):
/*----[Impedance Control Modes]----*/
private CartesianImpedanceControlMode hold1,imp1,imp2,imp3,imp4;
/*----[Impedance Control Modes Initialization]----*/
imp1= new CartesianImpedanceControlMode();
imp1.parametrize(CartDOF.Z).setAdditionalControlForce(5);
imp3= new CartesianImpedanceControlMode();
imp3.parametrize(CartDOF.Z).setAdditionalControlForce(-5);
imp2= new CartesianImpedanceControlMode();
imp2.parametrize(CartDOF.Y).setAdditionalControlForce(-5);
imp4= new CartesianImpedanceControlMode();
imp4.parametrize(CartDOF.Y).setAdditionalControlForce(5);
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And this trajectory:
Pince.getFrame("Pointe").move(lin(getApplicationData().getFrame("/F1/Centre")).setCartVelocity(100));
Pince.getFrame("Pointe").move(lin(getApplicationData().getFrame("/F1/P0")).setCartVelocity(30));
Pince.getFrame("Pointe").move(lin(getApplicationData().getFrame("/F1/P1")).setCartVelocity(5).setBlendingRel(0.1).setMode(imp1));
Pince.getFrame("Pointe").move(circ(getApplicationData().getFrame("/F1/P2"),getApplicationData().getFrame("/VCI/F1/P3")).setCartVelocity(5).setBlendingRel(0.1).setMode(imp2));
Pince.getFrame("Pointe").move(lin(getApplicationData().getFrame("/F1/P4")).setCartVelocity(5).setBlendingRel(0.1).setMode(imp3));
Pince.getFrame("Pointe").move(lin(getApplicationData().getFrame("/F1/P5")).setCartVelocity(5).setBlendingRel(0.1).setMode(imp3));
Pince.getFrame("Pointe").move(circ(getApplicationData().getFrame("/F1/P6"),getApplicationData().getFrame("/VCI/F1/P7")).setCartVelocity(5).setBlendingRel(0.1).setMode(imp4));
Pince.getFrame("Pointe").move(lin(getApplicationData().getFrame("/F1/P0")).setCartVelocity(5).setBlendingRel(0.1).setMode(imp1));
Pince.getFrame("Pointe").move(lin(getApplicationData().getFrame("/F1/Centre")).setCartVelocity(5));
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But when I add the "setMode" the robot no longer follows the trajectory (3rd figure). I have tried to remove the setblending, but it didn't solve my probleme
Is there a parameter that I use badly? Or is there another way to do this?