screw driving UR3

    I want to do a siple screwdriving job with GUI.
    I have mounted a screwdriver on the UR3 standard head

    --> Force and Movement in TCP Z-Direction (I am working on a tilted surface)
    --> Roation RZ until moment reaches a certain level (or until i reach a certain depth)

    My problem is:
    When using "force-Waypoint" (Feature: TCP, Type:Frame, RX: 10N 60°/s Z: 20N 100mm/s)
    the movement look good in testing but when using it the head moves in "random" position --> not fixed in y and x axis.

    My Wokaround was:
    using "if force()<20N" and "movl"
    the problem is:
    1. I can not formulate the force() correctly. I would need get_tcp_force() the array number 2 (Force Z) and 5(Moment RX), but i can't adress thes certain Vector-parts in the if condition.
    2. I have no idea who to make a permanent rotation around z-axis with a certain moment.

    I know the measurements are not very precise but I axept this. I would like to a simple screwdrivin job withou buying any extra tool.

    Even if you could address to the correct array numbers, you only would read the force at that moment, it is not realtime. Or you would make a loop with a extremely small movement and check it again and again.

    I would try next:

    If you make the movement of movel[] very smal, for example 0.02mm in Z-direction with a very small rotation in RZ, you would continiously check the values.

Advertising from our partners