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How to control orientation and center with Wrist Camera and Vacuum Grippers
/ Most recent by bcastets
My project includes ur3 robot, Robotiq Wrist Camera and Vacuum Grippers (2 cups) and the goal is to pick and place smartphones from the table.
At this point I use the camera to detect the phone (CamLocate - Automatic Teach Method) and the grippers to reach the phone and pick it up.
I tried several programs (robot program are written on the tablet) and came up with two questions.
- How can I make the suction cups catch the center phone every time? -The TCP point should be in the center of the phone (In the current behavior after using CamLocate, the suction cups reach closer to the edge of the phone)
- How can I control the orientation of the suction cups? (phone is always picked up with the same orientation - the phone charging port would be in the same place every time)
I have attached a picture of the situation I want to reach. The suction cups in the center of the phone and the arrow always in the same position regardless of the identified and picked object (phone).
Any help will be appreciated!