::heading=Context
This article presents how the force control node works and how to use it.
::heading=Knowledge
The best practice is to teach trajectories on a finish product.
Then you check the option adaptive stiffness and targeted position.
Adaptive stiffness will automatically set the level of adjustment response needed depending of the surface.
You can remove the option and set the adjustment response (stiffness) by your own. You can set a value and press the test bouton to experiment how the robot adjusts its position according to the force applied. At 0% the robot adjustment speed is maximum. At 100% the robot adjustment speed is minimum (almost 0).
The option "Targeted position" adjusts the robot position according to the teach trajectory. It is as if the robot anticipates its adjustment using the taught trajectory.
The current position option as the contrary does not use the teach trajectory. The robot progresses blindly and adjusts is Z position according to the force.
::note=Force control for sanding application works best above 20N.
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