ArtiMinds +Force
Mount a force torque sensor to your robot and easily solve automation tasks requiring the robot to react to force (and torque) measurements. Adding tactile sensitivity to your robot vastly increases the number of tasks which can be automated robustly.
Step-by-Step
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Choose a force torque sensor from the list of supported hardware components for your robot platform and configure the sensor and its mounting on the robot using the robot configurator inside RPS.
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Choose one of our helper tools for force torque sensors to guide the robot, center your gripper around an object or reduce jammings. Just grasp the robot at the tool and guide it to drastically reduce teaching time.
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Add new templates to your RPS program to search for a hole or to insert a peg. Force sensing will automatically be zeroized to compensate for drift.
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Combine different templates in your RPS program to resolve jammings while inserting the peg and to press it to the bottom of the hole. Forces will automatically be transformed to the contact point.
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For all templates you can choose or easily set up new presets which define how the robot will react to external forces, e.g. highly reactive for soft surfaces or slowly for metal objects.
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Inspect a broad new set of channels in Live Data to track force torque sensor data over time.
Features
Full support of hardware and robot-specific software
- Supports force torque sensors by ATI, Weiss Robotics, OptoForce, Robotiq and Wacoh. If you require support for specific components, just write a short request to contact@artiminds.com.
- Supports robot technology packages: KUKA.RealtimeSensorInterface and KUKA.ForceTorqueControl
Robot configurator options
- Set a force torque sensor, configure the mounting and test the sensor connection
Large set of templates, wizards and example videos to solve tasks requiring force-sensitivity easily
- Softly pick and place objects even if the gripper is not perfectly centred.
- Search for holes, corners, surfaces and more. Search patterns, forces, friction can be easily modified among others.
- Insert objects of different shapes like cylinders or boxes without jammings into holders or cavities.
- Align object sides, surfaces and corners, contact an object or centre it between contact surfaces.
- Overlay a continuous path with a force for grinding, polishing or similar tasks to smoothly follow even complex free-form surfaces.
Helper tools to guide the robot using the force torque sensor
RPS automatically generates optimized robot code
- Enable the robot to communicate with the force torque sensor, transform the forces to the tool-center-point by considering the mounting of the sensor as well as the location of the contact point
- Optimized, industrially robust code to adapt the robot motion based on the transformed forces.
New Live Data channels for force torque sensor data
- Analyse the transformed forces in the contact point as well as the raw data. Export all channels to Excel to make force/distance diagrams for quality control tasks.