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How to execute the "Find, Measure and Locate Center" function ?
/ Most recent by bcastets
haneulines Posts: 23 Apprentice
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()
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.
- Touch the object on each side
- Record in variables TCP positions on each side of the object
- Calculate the size of the object from the 2 TCP position you previously recorded
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()