forces_feedforward.xml
This example application shows the usage of a force skill with a feed-forward velocity. The robot moves in z direction with a fixed velocity and controls the reaction force in the same direction additionally,
Models used
monitor_duration: lines 67
skill_apply_force: lines 55
skill_concurrency: lines 53
skill_hold_pose: lines 62
skill_lin: lines 47
skill_relative_ptp: lines 43
skill_sequence: lines 35
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<!-- This example application shows the usage of a force skill with a feed-forward velocity.
4The robot moves in z direction with a fixed velocity and controls the reaction force in the same direction additionally,
5-->
6
7<pitasc>
8
9 <models>
10 <include package="pitasc_library" file="models/pitasc.xml"/>
11 <include package="pitasc_library" file="models/skills.xml"/>
12
13 <include package="pitasc_library" file="universal_robots/ur.xml"/>
14 </models>
15
16 <clone prototype="project">
17
18 <member id="configuration">
19 <clone id="configuration" prototype="default_configuration"/>
20 </member>
21
22 <member id="environment">
23 <clone prototype="robot_ur5">
24 <member id="robot_driver.max_velocity">2.0</member>
25 <member id="robot_driver.max_acceleration">3.0</member>
26 <member id="components">
27 <clone prototype="force_sensor">
28 <member id="wrench_topic">wrench</member>
29 </clone>
30 </member>
31 </clone>
32 </member>
33
34 <member id="applications">
35 <clone prototype="skill_sequence">
36
37 <member id="robot" reference_id="environment.robot_ur5"/>
38
39 <!-- Skills -->
40 <member id="skills">
41
42 <!-- First move to start position -->
43 <clone prototype="skill_relative_ptp">
44 <member id="relative_joint_state">0, 0, 0, -0.01, 0, 0</member>
45 </clone>
46
47 <clone prototype="skill_lin">
48 <member id="tool_frame">tool</member>
49 <member id="target_frame">start_position</member>
50 </clone>
51
52 <!-- Moves along z with velocity 0.01 and controls the residual force-->
53 <clone prototype="skill_concurrency">
54 <member id="skills">
55 <clone prototype="skill_apply_force">
56 <member id="force_frame">start_position</member>
57 <member id="axes">z</member>
58 <member id="target_forces">10.0</member>
59 <member id="ff_velocities">0.02</member>
60 <member id="compliance">0.001</member>
61 </clone>
62 <clone id="hold" prototype="skill_hold_pose">
63 <member id="tool_frame">tool</member>
64 </clone>
65 </member>
66 <member id="monitors">
67 <clone prototype="monitor_duration">
68 <member id="duration">5.0</member>
69 </clone>
70 </member>
71 </clone>
72
73 </member>
74
75 </clone>
76 </member>
77
78 </clone>
79
80</pitasc>