{"id":82969,"date":"2023-01-04T16:56:59","date_gmt":"2023-01-04T08:56:59","guid":{"rendered":"https:\/\/www.tm-robot.com\/?post_type=docs&#038;p=82969"},"modified":"2023-01-05T15:58:07","modified_gmt":"2023-01-05T07:58:07","slug":"use-force-control-node-to-assist-material-insert-application","status":"publish","type":"docs","link":"https:\/\/www.tm-robot.com.cn\/en\/docs\/use-force-control-node-to-assist-material-insert-application\/","title":{"rendered":"Use Force Control Node to Assist Material Insert Application"},"content":{"rendered":"<p>Examples are valid for:<\/p>\n<p>TMflow Software version: All versions with Force Control Node.<\/p>\n<p>TM Robot Hardware version: All versions.<\/p>\n<p>Other specific requirements: Force sensor needed.<\/p>\n<p>Note that older or newer software versions may have different results.<\/p>\n<h2>Background Information<\/h2>\n<p>This article will demonstrate an example of using force control node to assist material insert application. In this example, we use force sensor to detect the resist force from different direction while inserting, then Force Control Node will adjust robot posture according to the force detected. Users could try this method if they have difficulties to perform robot material insert straight in to the bottom.<\/p>\n<p>Please be aware, a TM supported Force sensor is needed to use Force Control Node.<\/p>\n<h2>Parameter Setting<\/h2>\n<table>\n<tbody>\n<tr>\n<td width=\"60%\">1. Please drag a Force Control Node to project, and click on the pencil icon on Node to edit it.<\/td>\n<td><a href=\"https:\/\/www.tm-robot.com\/en\/docs\/use-force-control-node-to-assist-material-insert-application\/fts_pic5\/\" rel=\"attachment wp-att-83126\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-83126\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic5.png\" alt=\"\" width=\"633\" height=\"702\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic5.png 633w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic5-271x300.png 271w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic5-360x399.png 360w\" sizes=\"(max-width: 633px) 100vw, 633px\" \/><\/a><\/td>\n<\/tr>\n<tr>\n<td>2. (A) Choose force sensor in list. If you don\u2019t add a sensor yet, you could add it now.<\/td>\n<td rowspan=\"2\"><a href=\"https:\/\/www.tm-robot.com\/en\/docs\/use-force-control-node-to-assist-material-insert-application\/fts_pic1\/\" rel=\"attachment wp-att-83041\"><img loading=\"lazy\" class=\"alignnone wp-image-83041 size-full\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic1.png\" alt=\"\" width=\"408\" height=\"582\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic1.png 408w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic1-210x300.png 210w\" sizes=\"(max-width: 408px) 100vw, 408px\" \/><\/a><\/td>\n<\/tr>\n<tr>\n<td>3. (B) In this example, we use Setpoint F\/T method. To set more parameters, click on the button.<\/td>\n<\/tr>\n<tr>\n<td>4. (C) Clicking on the check box of Fz will let robot adjust movement while Fz force detected. And vice versa for Fx, Fy, Tx, Ty and Tz. User can combine different<\/td>\n<td rowspan=\"3\"><a href=\"https:\/\/www.tm-robot.com\/en\/docs\/use-force-control-node-to-assist-material-insert-application\/fts_pic2\/\" rel=\"attachment wp-att-83047\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-83047\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic2.png\" alt=\"\" width=\"409\" height=\"583\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic2.png 409w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic2-210x300.png 210w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic2-360x512.png 360w\" sizes=\"(max-width: 409px) 100vw, 409px\" \/><\/a><\/td>\n<\/tr>\n<tr>\n<td>5. (D) By entering a number in the text box, it will give robot an initial force with the designated direction.<\/td>\n<\/tr>\n<tr>\n<td>6. (E) By adjusting the drag bar to the left, the needed force to trigger the robot movement will be higher. On the other hand, if the scroll bar is adjusted to the right, the needed force to trigger the robot movement will be lower.<\/td>\n<\/tr>\n<tr>\n<td>7. (F) User can click on advance button to set PID by themselves ,but the value of scroll bar(strong\/weak) will be omitted if Kp is modified here. Please make sure to test the setting in a small interval every time because inappropriate setting might cause robot to overreact, which causes a potential collision.<\/td>\n<td><a href=\"https:\/\/www.tm-robot.com\/en\/docs\/use-force-control-node-to-assist-material-insert-application\/fts_pic3\/\" rel=\"attachment wp-att-83053\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-83053\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic3.png\" alt=\"\" width=\"262\" height=\"331\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic3.png 262w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic3-237x300.png 237w\" sizes=\"(max-width: 262px) 100vw, 262px\" \/><\/a><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<p>Parameter adjustment video illustration:<\/p>\n<table>\n<tbody>\n<tr>\n<td>Step5<\/td>\n<td><div style=\"width: 270px;\" class=\"wp-video\"><!--[if lt IE 9]><script>document.createElement('video');<\/script><![endif]-->\n<video class=\"wp-video-shortcode\" id=\"video-82969-1\" width=\"270\" height=\"480\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-D.mp4?_=1\" \/><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-D.mp4\">https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-D.mp4<\/a><\/video><\/div><\/td>\n<\/tr>\n<tr>\n<td>Step6.1 drag to left<\/td>\n<td><div style=\"width: 270px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-82969-2\" width=\"270\" height=\"480\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-E1.mp4?_=2\" \/><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-E1.mp4\">https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-E1.mp4<\/a><\/video><\/div><\/td>\n<\/tr>\n<tr>\n<td>Step6.2 drag to right<\/td>\n<td><div style=\"width: 270px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-82969-3\" width=\"270\" height=\"480\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-E2.mp4?_=3\" \/><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-E2.mp4\">https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-E2.mp4<\/a><\/video><\/div><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>&nbsp;<\/p>\n<h2>Test Result<\/h2>\n<p>The tool used is the cylinder with diameter of 7mm, and the hole going to insert into is 8mm in diameter.<br \/>\nThe setting of Force Control Node is as below.<br \/>\n<a href=\"https:\/\/www.tm-robot.com\/en\/docs\/use-force-control-node-to-assist-material-insert-application\/fts_pic4\/\" rel=\"attachment wp-att-83110\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-83110\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic4.png\" alt=\"\" width=\"409\" height=\"585\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic4.png 409w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic4-210x300.png 210w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic4-358x512.png 358w\" sizes=\"(max-width: 409px) 100vw, 409px\" \/><\/a><\/p>\n<p>I checked Fz, Tx Ty and Tz because I expect the insert movement will be facing resistance force from those direction, users could adjust according to your scenario.<br \/>\nWith 5 degree offset in Rx direction, Force Control Node help robot to insert the cylinder to the hole<\/p>\n<div style=\"width: 270px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-82969-4\" width=\"270\" height=\"480\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-Result.mp4?_=4\" \/><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-Result.mp4\">https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/Video-Result.mp4<\/a><\/video><\/div>\n<p>If the offset angle is higher, user could try to adjust different parameter combination.<\/p>\n<h2>More Example<\/h2>\n<p>In some corner cases, the object might be jammed.<br \/>\nTo overcome this issue, weaving could be added to the path of <b>F\/T<\/b> <b>Trajectory <\/b>mode to create<b> X direction<\/b> weaving or even X-Y direction weaving.<\/p>\n<p><a href=\"https:\/\/www.tm-robot.com\/en\/docs\/use-force-control-node-to-assist-material-insert-application\/fts_pic6\/\" rel=\"attachment wp-att-83151\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-83151\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic6-1024x339.png\" alt=\"\" width=\"512\" height=\"170\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic6-1024x339.png 1024w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic6-300x99.png 300w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic6-768x254.png 768w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic6-360x119.png 360w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic6-1000x331.png 1000w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic6.png 1521w\" sizes=\"(max-width: 512px) 100vw, 512px\" \/><\/a><\/p>\n<p><a href=\"https:\/\/www.tm-robot.com\/en\/docs\/use-force-control-node-to-assist-material-insert-application\/fts_pic7\/\" rel=\"attachment wp-att-83157\"><img loading=\"lazy\" class=\"alignnone size-large wp-image-83157\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic7-1024x348.png\" alt=\"\" width=\"512\" height=\"170\" \/><\/a><\/p>\n<table>\n<tbody>\n<tr>\n<td width=\"60%\">1. Select F\/T Trajectory<\/td>\n<td><a href=\"https:\/\/www.tm-robot.com\/en\/docs\/use-force-control-node-to-assist-material-insert-application\/fts_pic8\/\" rel=\"attachment wp-att-83163\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-83163\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic8.png\" alt=\"\" width=\"547\" height=\"711\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic8.png 547w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic8-231x300.png 231w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic8-360x468.png 360w\" sizes=\"(max-width: 547px) 100vw, 547px\" \/><\/a><\/td>\n<\/tr>\n<tr>\n<td>2. Set on the parameter<\/td>\n<td><a href=\"https:\/\/www.tm-robot.com\/en\/docs\/use-force-control-node-to-assist-material-insert-application\/fts_pic9\/\" rel=\"attachment wp-att-83169\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-83169\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic9.png\" alt=\"\" width=\"500\" height=\"828\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic9.png 500w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic9-181x300.png 181w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic9-309x512.png 309w\" sizes=\"(max-width: 500px) 100vw, 500px\" \/><\/a><\/td>\n<\/tr>\n<tr>\n<td>3. Create a F\/T Subflow and program it<\/td>\n<td><a href=\"https:\/\/www.tm-robot.com\/en\/docs\/use-force-control-node-to-assist-material-insert-application\/fts_pic10\/\" rel=\"attachment wp-att-83175\"><img loading=\"lazy\" class=\"alignnone size-full wp-image-83175\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic10.png\" alt=\"\" width=\"542\" height=\"831\" srcset=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic10.png 542w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic10-196x300.png 196w, https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/fts_pic10-334x512.png 334w\" sizes=\"(max-width: 542px) 100vw, 542px\" \/><\/a><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>Result could be seen in below Video<\/p>\n<p>1. If no force control applied, the object will be jammed at the beginning.<\/p>\n<div style=\"width: 270px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-82969-5\" width=\"270\" height=\"316\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/0.mp4?_=5\" \/><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/0.mp4\">https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/0.mp4<\/a><\/video><\/div>\n<p>2. X direction weaving in dry run<\/p>\n<div style=\"width: 310px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-82969-6\" width=\"310\" height=\"270\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/1.mp4?_=6\" \/><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/1.mp4\">https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/1.mp4<\/a><\/video><\/div>\n<p>3. X direction weaving in action<\/p>\n<div style=\"width: 270px;\" class=\"wp-video\"><video class=\"wp-video-shortcode\" id=\"video-82969-7\" width=\"270\" height=\"323\" preload=\"metadata\" controls=\"controls\"><source type=\"video\/mp4\" src=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/2.mp4?_=7\" \/><a href=\"https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/2.mp4\">https:\/\/tm-robot.oss-cn-hongkong.aliyuncs.com\/wp-content\/uploads\/2023\/01\/2.mp4<\/a><\/video><\/div>\n","protected":false},"excerpt":{"rendered":"<p>Examples are valid for: TMflow Software version: All versions with Force Control Node. TM Robot Hardware version: All versions. Other specific requirements: Force sensor needed. Note that older or newer software versions may have different results. Background Information This article will demonstrate an example of using force control node to assist material insert application. In [&hellip;]<\/p>\n","protected":false},"author":3620,"featured_media":0,"parent":0,"comment_status":"closed","ping_status":"closed","template":"","meta":[],"doc_category":[4179],"doc_tag":[],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v16.9 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Use Force Control Node to Assist Material Insert Application | Techman Robot<\/title>\n<meta name=\"robots\" content=\"noindex, follow\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Use Force Control Node to Assist Material Insert Application | Techman Robot\" \/>\n<meta property=\"og:description\" content=\"Examples are valid for: TMflow Software version: All versions with Force Control Node. TM Robot Hardware version: All versions. Other specific requirements: Force sensor needed. Note that older or newer software versions may have different results. 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