UR5 with RG2 gripper grasping status check

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alix
Posts: 33
Joined: 17 Sep 2019, 14:48

UR5 with RG2 gripper grasping status check

Post by alix » 18 Sep 2019, 16:09

Hi,
I am trying to imitate the "UR5withRG2Grasping.ttt".
But there is no method in that scene to check whether the object has been grasped or not. If grasping fails, it still moves to the target position. Is there any way that it can check whether it has grasped the object or not, and only move to target position if grasp was successful ????
thanksss

coppelia
Site Admin
Posts: 7330
Joined: 14 Dec 2012, 00:25

Re: UR5 with RG2 gripper grasping status check

Post by coppelia » 19 Sep 2019, 08:44

Hello,

you can check various things that allow you to detect whether the object was grasped or not. For instance:
  • you can check the gripper angle
  • you can use a proximity sensor to check whether a part is in the gripper
  • you could use an appropriately placed force/torque sensor. This is a bit more complicated than the two other solutions
  • you could use a vision sensor to check whether a part is in the gripper.
  • etc.
Cheers

alix
Posts: 33
Joined: 17 Sep 2019, 14:48

Re: UR5 with RG2 gripper grasping status check

Post by alix » 19 Sep 2019, 15:36

coppelia wrote:
19 Sep 2019, 08:44
Hello,

you can check various things that allow you to detect whether the object was grasped or not. For instance:
  • you can check the gripper angle
  • you can use a proximity sensor to check whether a part is in the gripper
  • you could use an appropriately placed force/torque sensor. This is a bit more complicated than the two other solutions
  • you could use a vision sensor to check whether a part is in the gripper.
  • etc.
Cheers
Thanks a lottt

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