Universal Robots Forum

Defining plane feature with force sensor


Is it possible to set up a plane feature by using the force sensor to find surfaces of an object?

For example - if a box is placed in a designated place with only a small rotation as variation, can I move against the surfaces of the box using the build in force sensor in UR10e to redefine a plane feature to match the new rotation of the box?


hi Tor,

is this thread somthing you are looking for?

then use the: Move diriction comand> until> until tool contact> get tcp pose video

i havn’t done it myself, so can’t help you futher, it is still on my wishlist to figure it out. so in case it worked for you, feel free to share :wink: