Revision as of 20:53, 9 March 2017 by Bbenoit (talk | contribs) (Node Description)
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Node Description

ContactMove 5 1.png

Contact Node

The Contact Node is used to train the robot to perform force behaviors. There are 2 main modes that can be trained. The first involves setting a specific stiffness for the joints in relation to the tool center point. The stiffness can be set to whatever frame of reference that the robot has been trained with. The Contact Node is also used to train the robot to push or pull with a specified amount of force.

The pose, frame and active endpoint are important when specifying a Contact Node.

Node Type

Primitive - Cannot have children.


Node Inspector: Set Stiffness

Contact Node Inspector.png

Arm Pose

  • TEST
Moves the arm to the pre-set arm pose (either live or in simulation). Cannot be used until a Arm Posed has been set.
  • + ARM POSE
Set the arm pose to the current pose of the robot (either live or sim, depending what mode you're in).
  • ID
Not editable
  • name
Name of the node. Auto Generated and User Editable.
  • timed move
Default off. Enables ability to specify a target duration for the Contact Move Node.
  • number of retries
Number of times to retry moving to the set pose before returning an error.

Force and Compliance

  • use tcp frame
Choose the tool center point from for the node.
  • force frame
If the 'use tcp from' is de-selected (greyed out), choose the appropriate force frame to move for this move.
  • Stiffness
Set the stiffness for any of the 6 axes (X,Y,Z,Rx,Ry,Rz). Set between 0 - 1,300 NM for X,Y,Z or between 0 - 30 N·m/rad for Rx,Rz,Rz. Max stiffness is the default. To change, move the slider or type in a value.
  • Torque Limit
For a specific axis, check "Torque Limit" to set a do not exceed limit for the force.

MOTION

  • move type
Choose joint or linear move.
  • joint tolerance
Set the tolerance for the commanded joint positions for a particular move. The higher the joint tolerance, the less the commanded joint positions have to match the trained joint positions.
  • speed ratio
on a scale of 0.1 - 1.0, the relative speed of the arms movement.
  • joint acceleration
Choose slow, medium, fast or express. Sets an acceleration velocity for the arm movement.

ARM POSE

  • arm pose
Dropdown menu - choose an arm posed used by a different node. If you update the arm pose from the referenced node, it will automatically update.
  • ID
Not editable
  • name
Name of the arm pose. Auto Generated and User Editable.
  • tool center point
Choose the appropriate tool center point for this node. Defaults to the current tool center point chosen in the behavior editor.
  • Used By
Lists other nodes where this arm pose is used.

ENDPOINT

  • endpoint
Not editable
  • ID
Not editable
  • name
Not editable
  • parent
Drop down menu - choose a parent for this node.
  • update children
If marked green, will update all of the children with the chosen endpoint.
  • Used By
Lists other nodes where this Endpoint is used.
  • Comments
User editable - add comments about this node.

Node Inspector: Apply Force

Contact Node Inspector Apply Force.png

Apply Force

  • Apply Force
Set the applied force for any of the 6 axes (X,Y,Z,Rx,Ry,Rz). Set between -50 - 50 NM for X,Y,Z or between -5 - 5 N·m/rad for Rx,Rz,Rz. Max stiffness is the default. To change, move the slider or type in a value.
  • Warnings
Whenever an apply force is set, a warning will appear. For X,Y,Z, this warning appears Warning:Tool will accelerate in x axis until contact is made. For Rx,Rz,Rz, this warning appears Warning: Tool will accelerate in roll axis until contact is made.