screw_driving(f, v_limit)

Enter screw driving mode. The robot will exert a force in the TCP Z-axis direction at limited speed. This allows the robot to follow the screw during tightening/loosening operations.

Parameters

f: The amount of force the robot will exert along the TCP Z-axis (Newtons).

v_limit: Maximum TCP velocity along the Z axis (m/s).

Notes:

Zero the F/T sensor without the screw driver pushing against the screw.

Call end_screw_driving when the screw driving operation has completed.

>>> def testScrewDriver():

>>> # Zero F/T sensor

>>> zero_ftsensor()

>>> sleep(0.02)

>>>

>>> # Move the robot to the tightening position

>>> # (i.e. just before contact with the screw)

>>> ...

>>>

>>> # Start following the screw while tightening

>>> screw_driving(5.0, 0.1)

>>>

>>> # Wait until screw driver reports OK or NOK

>>> ...

>>>

>>> # Exit screw driving mode

>>> end_screw_driving()

>>> end