Is it possible to program a UR5e/UR10e to go from 1kg payload to necessary payload during runtime? Here is the situation, we have plastic parts in shapes similar to that of a cup inside a basket with holes cut out to drain water as the cobot lifts it. The parts can all be different sizes and weight. We have the cobot submerge the basket loaded with parts into DI water, then lift it back up after a minute. As it lifts up, some water will remain in the parts, and the payload is different. We don’t know the exact weight of it so it would be nice to have a program where it adjusts payload itself when it senses that it is more than 1-3kg. For now, we have a limit of how many parts could be added into the basket. It works fine how we have it now, but having that automatic re-adjustment would be nice.
now we have the estimate_payload() function, but it still need 4 poses to estimate the payload and center of gravity.
if the robot always “heading down”, maybe you can try get the force data and set the payload accordingly. but the force data is not that accurate.