Allighnment with integrated force sensing of UR5

AZalmanov

In our application we have a UR5 with a Robotiq Gripper, Is it possible to use a force feedback to aid in aligning the palletizing program to the presented pallet or work surface. I began investigating this using several contact points on the table and trying to reference those but I am stumped. Any guidance would be appreciated, thank you.  

matthewd92

The short answer is yes, you should be able to do that.  You would need to set-up a plane reference and then set your pallet to that plane feature so that adjusting the plane would adjust the palletizing sequence.  In your program the robot would go to each of the plane points and search until you found the point, you would then reset the plane point to be the actual TCP location you just found.  The 3 points that make up the plane would need to be variable points so that you could programmatically change the points.  Once the points are relearned the plane feature would be adjusted automatically and should then adjust the palletizing sequence to the new points.