Force measurement with position control

JasperT

Hello, does anyone know how I can get force measurement (EGM Measured Force etc. ) but not using force control mode. I do own the force control module, but I want to be in position control, but merely measuring the forces on my end effector.

To put it another way, i want to drive my robot to specific positions, not be force compliant, but I'd like to make use of the force measurements to decide these positions.

revans

Assuming I understand what you are trying to do. I would use the following. It does require that your robot have the option called multitasking.

Inside a separate robot task, use the the FCGetForce() command and assign it to a PERS. Then in your robot task you can have another PERS variable of the same name and the values will reflect across the two. Hopefully that answers your question.