What I ended up doing is nesting relative and/or direction based moves inside of a Frame type Force nodes, and then wait for force() to approach the set value, in the force node, before starting . I think I was just overthinking at first. (KISS)
Posts by zirbel
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Try creating a thread that collects the tcp pose, and use a speedj script function nested in a if statement, here is some code i used to find a surface, retract, move back in, & rotate to account for tooling wear.This was also done on a UR-5e which only has +/- 360 deg of rotation on w3, not infinite like the UR-3e, I am not sure what the joint positions look like on the 3 but if they are limited by +/- 2pi you will need a counter in the thread to add the rotations, similar to what your trainer was doing.
MoveL
pre_2_deburr_2
Direction: ref_plane Y-
Until (tool_contact_detection)
Start_w3≔ActualjP[5]
Direction: ref_plane Y+
Until (distance)
MoveJ
Retract_tool_Rz
MoveL
Direction: ref_plane Y-
Until (distance)
If rot_dir≟1 and ActualjP[5]<(Start_w3+d2r(_rot+5))
speedj([0,0,0,0,0,d2r(rot_speed*rot_dir)],3.14,30)
ElseIf rot_dir≟-1 and ActualjP[5]>(Start_w3-d2r(_rot+5))
speedj([0,0,0,0,0,d2r(rot_speed*rot_dir)],3.14,30)
Else
stopj(2)
Thread_1
ActualjP≔get_actual_joint_positions()
sync()
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Sounds good. Just be sure to pull all 24v signals from the robot's controller to avoid damaging circuitry, Also, to be fully autonomous, you'll need to enable remote control in polyscope, and might need more than one input to the robot to start, depending on the robots program.
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There is no pointer in polyscope, in fact the blue line it shows while running, isn't even necessarily accurate. Your best bets are to create a thorough safe-homeing routine to restart, and/or possibly using a select-case to skip to the point you were at after a restart/rehoming sequence.
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I am using polyscope v5.4.0 I am trying to deburr plastic parts using a silica-carbide impregnated nylon bristle brush (think wire wheel but nylon).
I am trying to move the part into the wheel, save TCP pos, retract, & move back in to do the deburring, basically so as the wheel wears the diameter of the brush will not matter.
I am having problems with the tool contact, the robot tries to push through the wheel without finding the edge.
I have verified that I have the correct TCP, payload, and CoM, and even got data from the gripper mfg to account for the fingertips. I have my tool deceleration set to 3000mm/s^2, tool speed at 50mm/s, and acceleration at 1200mm/s^2. I have also tried tool speeds of 25 and 100, with the same result.
I am wondering if anyone has any suggestions, or has done this before. It seems pretty simple so I am not sure why I cant get it to work.
I have Robotiq's Force Copilot, that I could use, but do not have a F/T Sensor. I would think that this is something that I could do all in polyscope with the new update.
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Do you have the CB3 or e-series?
Software updates must be done in steps for minor releases i.e. 5.0, 5.1, 5.2 etc.
I just purchased a 2F-140 and it required polyscope v5.3+. for my UR-5e.
Check out Robotiq's DoF forum it can be very useful.