Sometimes the robot may move too far during the Find Surface step, causing the gripper to collide with the box. Recording the robot’s position before the Find Surface and returning to it after gripping the box helps prevent this issue.
Symptoms
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Unintended downward movement during the Find Surface step.
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Collision between the gripper and the box, possibly triggering fault conditions.
Cause
The Find Surface function may allow the robot to move further down than required, especially if the box height or environment isn’t perfectly calibrated.
Solution
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Record the Robot’s Position Before the Find Surface
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In the Grip node, assign the current TCP pose to a variable (e.g.,
PickPose).
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Perform the Find Surface
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Execute the Find Surface step to locate the box’s top.
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Grip the Box
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Proceed with closing the gripper and verifying a successful grip.
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Return to the Recorded Position
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Just before the Release node, insert a MoveL command to return to
PickPose.
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Continue with the Program
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After returning to the safe position, proceed with the subsequent steps.
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Implementation Example
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Assignment:
PickPose := get_actual_tcp_pose() -
Find Surface: The robot moves down to detect the box’s top.
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Grip Sequence: Gripper closes on the box.
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MoveL PickPose: Return to the safe recorded position.
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Release Node: Continue with the standard palletizing instructions.
Refer to the attached screenshots for a visual guide on where to place the assignment and the MoveL command.
Benefits
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Collision Avoidance: Ensures the robot retracts to a safe position, preventing collisions.
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Improved Reliability: Minimizes fault conditions caused by accidental collisions.
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Easier Debugging: A known safe pose aids in troubleshooting any issues.
By implementing this procedure, you can enhance the reliability of your Robotiq AX30 Palletizing Solution and avoid collisions during the Find Surface process.