How to execute the "Find, Measure and Locate Center" function ?

haneulines

Hello,

I would like to measure the object that I want the robot works with but I don't know where  and how do I have to start for using the find function.

Can someboby help me please ?

bcastets

Which robot are you using ?

haneulines

I'm going to start from the beginning. I'm an intership in a society and we are using UR3 cobot. I'm studying the robot for the moment and I have a problem in executing functions.

haneulines

  How can I use those functions for example ?

bcastets

To become more familiar with UR robots I recommend you take the UR academy course:
https://www.universal-robots.com/academy/

Then to measure your object, you can indeed use find surface to place the robot at the surface of the object. Then you can record the robot position using the UR function : get_actual_tcp_pose()

1. Touch the object on each side
2. Record in variables TCP positions on each side of the object
3. Calculate the size of the object from the 2 TCP position you previously recorded

I don t know if you are using our gripper but our gripper have a finger position feedback. It is possible to measure object using our gripper.

bcastets

I just see your additional screenshot. It looks like you want to measure part size with the gripper.

You have first to calibrate the gripper in installation tap.
Then you can get the current gripper open size using the function: rq_current_pos_mm()

DBarton

how accurate will this be? is it rounded to the nearest mm?  I am using the Hand-e

bcastets

Hand-e have a resolution of 0.2mm.