Thin object detection (such as a tissue, ie: Kleenex)
/ Most recent by jspencer86
I'm working on an application using a UR5 robot where I basically need to repeatedly pull tissues from a tissue box. I need the robot to be able to detect when it successfully grasps a tissue, or better yet, when it fails to do so. The problem is that because the tissue is so thin, using the object detection feature does not work. The robot sees its gripper as fully closed regardless of whether it has actually grabbed a tissue or not.
I do have a force torque sensor installed on the arm, and was playing around with trying to capture those measurements to be able to tell the robot that it failed to pull a tissue, but I have had no success.
I'm hoping that someone here might have a simple idea to solve this problem, because my internet searches have so far been fruitless!
Thanks in advance!