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david_firamdavid_firam Posts: 2 Recruit
Hello,

I am currently working on an application to pick and place some parts using the UR10 robot. Our robot is installed on a mobile platform that can be manually moved making it ideal to take the robot out of the production line in case something unexpected happens.
My goal is to use the FT300 in combination with a custom gripper to palpate the machine so I can offset the robots waypoints in case the robot was moved from it's previous position (not much, just a couple of mm). Our application requires the robot to pick and place parts on centering pins so accuracy is a must.
I was wondering if the FT300 sensor is feasible for accomplishing such a task.

Thank you

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  • Thanks David for this great question!

    @matthewd92, @Nicolas_Lauzier what do you think?

    Catherine Bernier, Jr. Eng. 
  • david_firamdavid_firam Posts: 2 Recruit
    Hey @Etienne_Samson, thank you for the answer. I am planning on using the FT sensor also for the insertion of the part in the machine but my biggest concern is the position of the robot related to the machine. My plan is to make the application as simple as possible for the operator to work with so no programming knowledge is required. So after the robot is installed on the line I would like the operator to initiate a offset procedure with the push of a button so the UR can automatically start palpating the target machine and offset the main path waypoints. Afterwards when the robot places the part in the machine I also plan to use the FT sensor to achieve a certain compliance level. 
  • @david_firam Since we are talking about mm, could you simply let the FT300 guide you to insert the part in and once it's a success you can record the new position of the robot to reach the target? Can you share some images so we see if vision can help you locate those pins?


    Catherine Bernier, Jr. Eng. 
  • Etienne_SamsonEtienne_Samson Posts: 418Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Handy
    @david_firam for your initial positioning you should use 2 holes on the floor and have your mobile plateform.

    Here is an example of mobile platform done by Faude, one of our partner in Germany, they sell this as a standard cell. It's on wheels to move it around but then the handle on the side will fix it and the 2 rods you see on the bottom will align it infront of the CNC machine. They sell this standard machine tending cell with our Gripper on it by default with optional FT Sensor and Wrist Camera. They are not the only distributor doing that, I'm sure @Catherine_Bernier could help you find someone doing that in your area!

    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
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