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How to perform capping operation using force torque sensor mounted on UR5 arm
/ Most recent by bcastets
gauravb Posts: 9 Apprentice
edited May 2021 in Robotiq Products
I have a problem where a threaded cap needs to be operated using FT300 sensor mounted on a UR robot automatically. Since the cap pose can't be precisely identified so the FT sensor needs to identify the normal of cap using compliant mode. I want to know how to proceed in this direction.
It presents how to align an object on a surface using the FT300.
If the robot is closed on the object and if the object is well aligned with the base surface then you know its normal.
You can use same programming process. In the article I shared the gravity does not help that much because the zero of the sensor is made before the manipulation to cancel gravity.
You can use a force node with force applied on Fz and free rotation on Ry (stiffness 0%). Wait a little so that the gripper have time to align and you should be good.