Calculate the weight of object held by gripper

[ajp]

Payload measurement on robot

Is it possible to find out the payload a UR is carrying at any point in time and whats the accuracy of the measurement? If this cannot be done as is, is there a sensor such as loadcell that can be attached to the arm to achieve the same?

As was described in this other thread, it is possible with a force/torque sensor mounted at the robot wrist.