A great way to learn more
about Universal Robotics robots is to browse https://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos .
An example is this program
" seek using force " that can be used, for example,
in an application in which the robot comes into contact with an object or a
surface. Instead of installing an external Force and Torque sensor, this
program shows how to use the information already present in the robot to
estimate these quantities.
Just download the program
seek_with_force.urp from the website above, open the program in the
URSim simulator and connect in Simulation mode.
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