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Finding the Hole's center through Touch Sense

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Charis Montes

Hello All,

I am curious whether anyone of you have a specific routine to find any hole's center through use of TOUCH SENSING? I am on a project to weld different parts which have numerous holes. Each part is having about 108 holes. Along with warpage etc. in every part it is very difficult for me to hit each location on perfect basis. Therefore I am required about 0.5 mm wall thickness of the tubes to be used for welding as it is 1mm only.

I was wondering whether there is any way of using the TOUCH SENSING for the purpose of checking if there is any coupling with the center's welding at different locations all through the parts. Is there any kind of chance for setting up an incremental touch routine  that would be utilized on random basis and center of each hole would be found at each and every location?

Looking for help. Thank You

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    Frankie Ellis
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    Dear Charis,

    You can have detailed answers right here, below:

    • You are required to know of the approximate location of each hole before the execution of program.
    • You have to get the mathematical relation or formulas for the holes location.
    • For a specific hole, you are able to adopt following way.
    1. You have to move the robot to the approximate central position of the hole and then perform the fillet 1 dimensional search to about 3 times over different edges and then you will be able to get 3 values of contact to a record PR by default PR[32], however notice that record pr[32] to some other available values PR[] after each search in time, otherwise the pr[32] will be overwritten.
    2. You are able calculating the center of circle by about 3 points.
    3. You can set the new UF to the center of circle and then teach the circular path in accordance to the new UF.

    Good luck 

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