Hello everyone,
I'm kinda new to the Robotic world, and I'm doing an internship in the domain of the collaborative robotic.
I have two problems and I've tried really hard but I don't find the solution.
1- Running a lot of tests to measure the force of the robot, I have to manually switch the Safety mode from Protective Stop Mode to Normal mode then have to restart or continue the program. But doing it manually is very time consuming and sub-efficient
What I'm seeking for is a way to automate the tests. What would be great is a way to automatically continue to run the program after the shock, so the robot would hit the sensor, switch to protective stop and the robot itself (or an external device if needed) would switch from Protective Stop to Normal mode and continue the program.
2- In Polyscope, there is a MoveL command, it's an easy to use command, but it's not possible to increment a variable in there. So I've used the Script command movel(). But there is a problem here. Indeed, in the MoveL from Polyscope, we can use a feature space just by choosing it in the feature menu. But in the Script command, there is no information about a feature space setting. So of course, when I run the program (in Simulation) it doesn't go as expected.
Do you know how to set a feature space when programming the movel() in Script ?
I hope what I'm asking is not impossible, cause it would help me a lot.
Thank you
PS : It's a UR10