Spacing and collision

Tyler_Berryman

Question from @olivertan during the vision system training :

Can you use object detect to compensate for the fact that the gripper does not have enough space around an object? Or use FT sensor information to detect unwanted collision?

Etienne_Samson

@olivertan @Tyler_Berryman there is no embedded feature for that, but you could indeed have a set of instructions inside the Camera Locate node that will use both force sensing and Gripper object detection to know if you had a collision and to know if you picked the object. I would do something like:

Move to snapshot position
Camera Locate
    While Force reading < collision threshold
        move to approach point
        else go back to Camera Locate
    Close Gripper
        if object is detected go to exit & place
        else go back to Camera Locate

You should also have a part feeding system, so if you detect a collision or miss a pick, you could shake the parts before the next attempt.