5 ms·
Awesome questions, I appreciate the curiosity. We're using the stock force control software and plan to tweak it soon. I couldn't tell you how it works under t
by dopeboy 7y ago
Awesome questions, I appreciate the curiosity.
We're using the stock force control software and plan to tweak it soon. I couldn't tell you how it works under the hood.
We use mannequin to test and then, other body parts [0]. Long term, we want to invest in a better testing harness. Open to ideas on how to do that.
[0] - https://twitter.com/manishsinhaha/status/1202078849619513345 https://twitter.com/manishsinhaha/status/1202078849619513345
- cbames89 7y agoUR website[0] seems to suggest +- 10N (a kilo resting on your neck) with their stock implementation. I imagine you're going to want something better than that. What Force/Torque sensor do you use? Some of them are temperature sensitive and require a good warm-up period before they can be used to achieve good performance. [0]https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/urscript-dynamic-force-control-20571/ https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-...
- ladberg 7y agoNot OP but I've written custom force control code for a UR5e. There's a six axis force sensor on the end effector for the e model which has a pretty noisy raw output. After some filtering we were able to get a pretty sensitive controller. I didn't measure it, but far less than 10N.
- cbames89 7y agoSweet, thanks for sharing your experience!