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+--- Thread: UR5 - Dynamic Force Control (/ Thread-UR5-Dynamic-Force-Control)
UR5 - Dynamic Force Control-Lara-12-10-2021
Hi Everyone,
I am trying to achieve a dynamic z-position based on force/pressure in an otherwise simple path follow project. On the RoboDK Blog I read that the easiest way is to create a custom post processor. On Universal Robots website I (I guess) found the needed code lines to implement in the post processor. But now I am wondering which of the 8 UR post processors is the suitable for this task?
Has anyone experience in forc controll applications for UR via roboDK?
Would be very grateful for any tips :)
Here the mentioned websites:
//www.sinclairbody.com/blog/force-control-robot-machining/
https://www.universal-robots.com/articles/ur/programming/urscript-dynamic-force-control/
RE: UR5 - Dynamic Force Control-Jeremy-12-15-2021
Do you need it as a thread, or just calling the "force_mode()" instruction once at the beginning of a sequence of motion is enough?
If so, I would recommend simply using the "Insert code" feature part of the "Program call" instruction. (Add a program call and use the drop-down menu to select Insert code).
The normal post-processor is best suited for this task.
Jeremy