SurfaceAlign Object

SurfaceAlign object moves the robot to a position where the torque of the rotation direction will be "0" while the robot presses the workpiece to a specified direction. At this time, the workpiece surface grasped by the robot and the surface of the working desk or the workpiece on the working desk is parallel.

This object is used for positioning during assembly or stable placing of the workpiece. Stable contact status is provided even if the workpiece dimension or the grasped positions of the workpiece have a margin of error.

The above figure is an image of a motion by the SurfaceAlign object. As the white arrows show, the robot moves and presses to a downward direction and adjusts the orientation so that the applied torque will be "0".

The SurfaceAlign object will be succeeded when the end conditions are satisfied within the specified time. It can use the end conditions related to force. The end condition sets whether to use in ForceCheckEnabled. If no end condition is set, the object will always be succeeded.

End condition is as follows:

End condition	Success condition
End conditions related to force	Within the specified time of Timeout, keep all of the following satisfied for the time specified by HoldTimeThresh.
	Force direction which is specified by PressOrient The axis should be within the range of PressForce -PressCheckTolF to PressForce +PressCheckTolF.
	Torque in Follow direction specified by FollowOrient: Should be within the range of -FollowCheckTolT to +FollowCheckTolT