Force Control for Maching

marthin

Hi!

 

Has anyone succeded in teaching and learning a path around an circular object.

 

When trying the robot gives up after 90 degrees around the circle and just taking off out from the circle. Seems like the robot putting pressure in the direction of the first point where it is activated.

 

I have seen it been done on the web, so it must be possible.

Watch 2.15 minutes into this:

http://www.youtube.com/watch?v=HW1j2mk8uyY&amp;feature=related<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

Any ideas?

 

Thanks

Marthin

j_proulx

Hello,

From Austria:

I have done a movie for you in the lab. In the video everything is shown what is important for creating a Force Control path on a cylindric part.
I have attched for  you also the program what is shown in the movie. I have used FCPressC for the program but also run the system with FCPressL, but you need more points on the curvature if you like to use FCPressL.

 

webwiz/222/FC_Circle_Video.zip

webwiz/222/FC_Circle.zip

 

Are you using the Path force reference?

BR / Jim Proulx