Interfacing force sensor with gripper

Sue

Hello,

I am new to robotics and having trouble understanding how to connect the F/T sensor to the UR3 and gripper so it (sensor) can get readings from the gripper. Part of the trouble I am having is that the products are from 3 different companies- UR3 robot, Weiss gripper (2-finger ), and ROBOTOUS 6-axis F/T sensor. My question is, if I attach the sensor to the UR3 and gripper using a mechanical coupling plate, will it be able to measure F/T in all 6 axis? If not, what kind of part do I need to find (or make) that can do so? I have attached a picture of the UR3/gripper setup, as well as the F/T sensor.   

[Deleted User]

Hi Sue,

The F/T sensor will give you a value of the Forces and Torques applied to the Gripper. First, you will need to mount the F/T Sensor between the mounting plate of the UR robot and the gripper with adapting plates. The sensor have to be connected to the robot controller or a PC (depending on how you want to use the data). Application software could be available from the supplier if you want to use a PC to collect it.

Multiple options of communication exist depending on the type of sensor and the supplier (Ethernet, USB, RS485, RS232, etc). You will need to include a command in the robot program to read the values of the Register of the sensor when required (Fx,Fy,Fz,Mx,My,Mz). Refers to the sensor User Manual on how to read registers.

This Post can help you on the way to read Registers in PolyScope:
https://dof.robotiq.com/discussion/comment/3525#Comment_3525

Do not hesitate if you need more information,

Best Regards

TheoSaify

nicolas_bouchard i am using a 2 finger gripper with the FT-300, is there a way to make the robot open the gripper when it detect a force applied on the gripper ?

David_Gariepy

You can use an if statement with the required force. In the following example, the robot will move toward waypoint 1 then if a force greater then 10n is detected, the gripper will open


In the next example here, the robot will move toward waypoint until it feels a force of 10 newtons then open the gripper, do not forgot to use check expression continuously