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Force monitor working just fine.

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This commit is contained in:
Michael Soukup 2014-08-06 00:54:37 +02:00
parent f4ca1805f8
commit 816ec92a81
4 changed files with 5 additions and 7 deletions
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8
config.py
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@ -75,8 +75,8 @@ JOINTS_HOME = [TABLE_QUADRANT*math.pi/2,
# Note: Setting this to "True" involves polling the UR5 through a real-time # Note: Setting this to "True" involves polling the UR5 through a real-time
# monitor that runs at 125Hz. If the controller runs slow, try disabling this. # monitor that runs at 125Hz. If the controller runs slow, try disabling this.
USE_FORCE_MONITOR = True USE_FORCE_MONITOR = True
FORCE_CONSTRAINT = 60 FORCE_CONSTRAINT = 40
T_FORCE_VIOLATION = 0.1 T_FORCE_VIOLATION = 0.3
@ -88,9 +88,9 @@ T_FORCE_VIOLATION = 0.1
# IMPORTANT: VEL_Z should be tuned to Z_MIN to avoid smashing into the table. # IMPORTANT: VEL_Z should be tuned to Z_MIN to avoid smashing into the table.
VEL = 0.1 #[m/s] VEL = 0.1 #[m/s]
VEL_Z = 0.05 #[m/s] VEL_Z = 0.05 #[m/s]
ACC = 1.0 #[m/s^2] ACC = 0.5 #[m/s^2]
STOP_ACC = 1.0 #aka deceleration STOP_ACC = 1.0 #aka deceleration
T_DIR_CHANGE_COOLDOWN = 0.1 T_DIR_CHANGE_COOLDOWN = 0.05
# Constraints are relative to the cylinder coordinate system. # Constraints are relative to the cylinder coordinate system.
# Because of delay and fluctuations of parameters in the system, # Because of delay and fluctuations of parameters in the system,

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config.pyc
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4
ur5controller.py
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@ -225,7 +225,7 @@ class DemoController(object):
self.zforce = self.robot.get_tcp_force(wait=False)[2] self.zforce = self.robot.get_tcp_force(wait=False)[2]
if abs(self.zforce) > self.force_constraint: if abs(self.zforce) > self.force_constraint:
# move opposite to z force # move opposite to z force
dz = self.zforce/abs(self.zforce) dz = -1*self.zforce/abs(self.zforce)
self.move((0, 0, dz), t=self.t_force) self.move((0, 0, dz), t=self.t_force)
self.set_cylinder_coords() self.set_cylinder_coords()
return return
@ -263,8 +263,6 @@ class DemoController(object):
vec = (dr, dtheta, dz) vec = (dr, dtheta, dz)
self.current_cyl = (r, theta, z) self.current_cyl = (r, theta, z)
# stop on |vec| = 0
if sum(map(abs, vec)) == 0: if sum(map(abs, vec)) == 0:
if vec != self.prev_vec: if vec != self.prev_vec:
self.robot.stopl(acc=self.stop_acc) self.robot.stopl(acc=self.stop_acc)

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ur5controller.pyc
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