Using the URCap Plugin
48
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2.
F/T Move
: It can be used to position control (move) the robot along/about the
non-compliant axis in the
F/T Control
.
The
programs/OnRobot_UR_Programs
folder contains a collision detection
example UR program, called
OnRobot_Plastic_Partingline_Removal_Example.urp
.
3.5.4
Stacking and Destacking
The task of stacking or unstacking items are commonly used in application such as
machine tending or collaborative assembly. Working with fragile or flexible parts it
is very important to have a precise sensor that makes sure during the seek phase
the items are not harmed. In case of rigid parts, positioning inaccuracy or parts
variance can make the task hard to achieve. With the following two commands,
anyone can easily solve these challenges quickly and easily:
1.
F/T Stack
: This command is similar to the UR’s built-in Stacking (Seek)
command, but uses the OnRobot precise force/torque sensor as an input to
achieve an excellent result even with low forces. The items are moved to the
next stack position and also monitors whether the stack is full or not.
2.
F/T Destack
: This command is also similar to the UR’s built-in Destacking
(Seek) command, but uses the OnRobot precise force/torque sensor as an input
to achieve an excellent result even with low forces. The items at the next
destack position is found (and moved to the users’s target) and also monitors
whether the stack is empty or not.
The
programs/OnRobot_UR_Programs
folder contains a collision detection
example UR program, called
OnRobot_Stacking_Example.urp.
3.5.5
Palletizing
Palletizing objects that need to be handled with care can be a challenging task.
Placing flexible cardboard boxes next to each other requires more than just a
simple positioning in a fixed pattern. Using the UR’s built-in palletizing command in
combination with our
F/T Search
command anyone can easily solve these
challenging tasks.
First set up the UR’s built-in
Pallet
command, to achieve the required pattern.
Make sure that the positions are a little bit further than what is going to be the
final position. That allows the
F/T Search
command to find the neighboring item
by a gentle touch to adopt to any positioning errors.
