We currently use a UR10 robot to pick and place small parts. Sometimes the parts may not be picked up by the magnets. We would like to know if it is possible to detect if it has picked something up without additional sensors. I understand that the robot can detect the weight of the payload, but the parts are too small (20 grams). Can we use this to detect if it has picked up something or not? Any other ideas would be welcome.
Depending on how small or fragile the part is, you can possibly use the Force commands.
For example, after you pick the part, you can move to a clear location then move down until the robot senses a specified force.
You would then look at the robot’s position to determine whether it stopped because the part hit or if the gripper hit.
This can also be done with the Until Contact command, but I’ve had better luck with Force.
@dpeva The parts are small, 20-50 grams … it will not impact the payload reading
also the parts have a thickness of 2 mm
Can you suck the part up with the magnet from an extended distance away? If you can increase the acceleration of the part, you’d be generating a larger force. One that might be detectable by the force sensor.
Easiest way would be with a fork photo sensor or an inductive sensor if it’s metal.
Why don’t you want to use one?