The application of the robot is to pick up small (metal) parts. How do I know if the part is picked up or not?
Are the parts at least large enough to impact the payload reading? If you use the script command “zero_ftsensor()” prior to picking it up, then call “force()” you may see something high enough to indicate a part is attached to the flange that was not there prior to picking. Just an idea.
No, the parts are small, 20-50 grams … it will not impact the payload
This magnetic gripper has a build in ring that will detect the part: