This Device Gives the Robot Ability to Feel What It’s Handling
Robotiq and Universal Robots are valued supplier-partners with Cross Company’s Motion Solutions Group. The following information is from Robotiq demonstrating using the weight of a hockey puck for the ordering system.
This video demonstrates using the weight of a hockey puck for the ordering system. This Universal Robot is grasping the part one after the other by touching the top of the piles, then determining the height of the puck stack. Then the robot calculates the height offset, opens the gripper, then goes and picks up the puck. Once the Robotiq gripper has the puck, the weight is determined using force feedback and then the robot can then decide where to place the puck.
Steps in the Operation:
- Seek Mode – this first step uses “force feedback” when the gripper is touching the puck.
- Once a force is detected (the puck), the robot registers the position of the tool and can determine the height to go down to for grasping.
- When the gripper grasps the puck, the weight (force) of the puck is acting in the opposite direction from the first operation.
- A threshold will have been set to make the decision in the program.
- The robot distinguishes the weight difference between the blue puck (4 ounces) and the orange puck (8 ounces).
- Once the pucks are identified, the robot places the puck in the corresponding pile.
- The program continues until the gripper touches another puck (seek mode) or the empty table.
- The robot is pre-programmed with the table height, so that it enters another loop that will reconstruct the puck pile.
And the Advantage Is
Using the Robotiq FT 150 Force Torque Sensor with the Universal Robot provides a major advantage of being able to determine the weight of the objects, but more importantly to be able to run the program without knowing the tower height. Regardless if the puck stack has 1 or 10 pucks, the robot is only looking for the next surface (seek mode) and doesn’t have to remember the last puck height.
The Robotiq FT 150 Force Torque Sensor is doing the force sensing, the 3-Finger Adaptive Gripper with custom fingertips is handling the task. This gripper is designed to adapt to different geometries. The custom fingertips in this particular application are designed to grasp round objects; the B and C fingers are equipped with special rotating fingertips, so they can adjust themselves to the diameter of the object. And, this is set up with a UR5 Universal Robot, a collaborative robot (cobot).