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Brittaney541Brittaney541 Posts: 34 Apprentice

Hi there, was hoping you could help me build my program for destacking. Not sure what expression to use so the robot knows to go down 25mm every time. Also I need the gripper to go down closed and touch the stack to know its there and then open go down more and close, it wont allow me to put the gripper in the middle of the program.

Best Answer


  • bcastetsbcastets Vacuum Beta tester Posts: 610 Expert
    edited February 2019
    I would suggest 2 ways to do that:

    1/Use the wizard>Seek node integrated in Polyscope:
    This would be the user friendly way to proceed. Inside the stack and unstack process you can use force sensor to know where you can release or pick the part.

    2/Make a custom stacking program:
    This is kind of smashing a fly with a hammer but a custom stacking program give you more control to adjust your process.

    You can download programs with the following link:

    Here below is the video of the custom stacking:

  • Brittaney541Brittaney541 Posts: 34 Apprentice
    Thanks for the help, I'm not using a vision system and want to seek with gripper closed just like at the middle of the video. I'll try using some parts of the application you sent and see if it works.
  • bcastetsbcastets Vacuum Beta tester Posts: 610 Expert
    Here is a video explaining the stacking and unstacking of UR:

  • Brittaney541Brittaney541 Posts: 34 Apprentice
    Thank you again. All the information you have given me truly helped. Thank you for taking the time to answer my question and also for all the detail in it as well :)
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