I want to use a CR10 for CNC tending, and in my particular setup after I load the spindle I need to push the workpiece to the hardstop of the collet with a specific force applied along the axis.
In theory this is possible by mounting a 6-axis force/torque sensor between the gripper and the 6th joint, but how can I configure it on the software side?
The thing is that in this case the robot should not move to a specific point in space, but rather move indefinitely along a given direction until a minimum value of force is measured.
I can’t seem to find such a feature on DobotSCStudio, do I need to use the SDK?
The alternative way to do this would be to continuously move the setpoint by a very small amount until the required force is met, but it would be nice if such a feature was already implemented.
Please correct me if I’m wrong, but this seems exactly what is done on your youtube video DOBOT CR5 | Sanding & Polishing. It looks as if the robot is following a bi-dimensional trajectory on the horizontal plane while adjusting automatically its height to meet a specific force on the polisher.
By the way, I plan to entirely control the robot via TCP/IP from a Linux machine.