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Tyler_BerrymanTyler_Berryman Posts: 122Beta Tester Beetle, Wrist Camera URCap 1.3.0 Handy
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?
Tyler Berryman
Robotiq Integration Coach
[email protected]
1-418-380-2788, option 3

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  • Etienne_SamsonEtienne_Samson Posts: 418Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    @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.
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
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