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HowieHowie Partner Posts: 1 Recruit
in Applications
Has anyone used a 2 finger adaptive gripper along with a UR5 or UR10 to open/close doors (office type, 3 hinged), along with a Torque/Force sensor?
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  • Etienne_SamsonEtienne_Samson Beta Tester Beetle, Wrist Camera URCap 1.3.0, Vacuum Beta tester Posts: 419 Handy
    @Howie a whole bunch of people did that during the DARPA challenge in 2015. It is possible, are you facing any challenges or have any questions?

    Basically, you need to apply a twisting torque to turn the handle until you reach the stop and then pull the door in a circular motion or using compliance in some directions.
    Etienne Samson
    Technical Support Director
    +1 418-380-2788 ext. 207
    [email protected]
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  • tarialystarialys Posts: 3 Apprentice
    @Etienne_Samson

    I am currently doing door testing. My doors open by pull force (no nob) so the issue I'm having is that the cobot stops because of the collision detection. I was able to get our alpha units to open and close by accelerating and speeding the waypoint to bypass the collision but it is not working with the beta units. I have been playing around with some of the force copilot features but I'm not sure I'm using them correctly. Any help or pointers would be greatly appreciated. 

    Also if you can point on how to use the camera to see where the finger opening is would be greatly appreciated. sometimes the position changes and it would be amazing if everything can update based on the new location.

    Relevant information on the internet is none existent or not comprehensive enough. 
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