I am trying to do an experiment of robot polishing using a part in hand configuration and a compliant buffing wheel setup. My part is a curved surface and i have made an RTCP on the buffing wheel. Using the Fanuc force sensor of the robot, how can i determine whether exactly 5N is acting on the part? My wheel is also on the softer side so it deforms before the compliance takes charge. If resultant forces are to be obtained, points lying on the path between the targets i have taught will have to be considered. How can I obtain the exact force acting in that RTCP axis? Can anyone with more experience help?
Fanuc FS-15iA force sensor
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Ishan Kelkar -
January 24, 2024 at 9:22 AM -
Thread is Unresolved
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MOM
January 24, 2024 at 11:25 AM Approved the thread. -
If you are using Fanuc's force sensor, you will want to setup a force control schedule the contouring feature. The target force is part of the contouring schedule. The vector of the applied force can be setup relative to either a user or tool frame. I haven't used it with RTCP, but I believe that works too.
You can monitor the force real-time in multiple ways. One way is through the force control web interface. As far as Fanuc web interfaces go, their force control one is pretty good.
You can also setup a log using TPP instructions. IME, the data produced by this log is better than what the web UI spits out. It can be setup to post 6 DOF forces vs position for each ITP (4ms).