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How to depalletize with the Robotiq node?

Context  Depalletizing with a robot becomes complex when pallets and boxes vary in size or height. Gripper orientation and trajectory planning can be compromised, especially if the robot approaches from a steep or constrained angle. This article explains a reliable programming method based on an entry pose and contact detection, with a simple way to avoid singularities.

1. The Challenge

When depalletizing, two main issues often arise:

  • Variability: Different box and pallet heights between loads.

  • Orientation: Gripper may approach at awkward angles when descending, leading to singularities or unreachable poses.

2. Strategic Programming Method

The proposed approach is simple and robust:

  1. Set pallet height as the tallest expected pallet (without boxes), plus a small Z-axis margin.

  2. Save the entry pose above the box

  3. The robot always moves to this entry pose first before searching for contact.

  4. Use a feature like Find Surface to detect the box top .

  5. Execute your grip command
  6. Update payload with box

  7. Return to the same entry pose after contact ( Mole L for example )

  8. Exiting grip sequence applies payload with box and execute trajectory to the conveyor

This ensures repeatability and compensates for box and pallet height variation 

 

3. Limitation: Entry Pose Singularity

This approach assumes that all trajectories (down, up, sideways) are feasible from the entry pose. However, if the robot is already in a constrained configuration (e.g., extended or twisted), it may encounter singularities while moving down to contact.

Posture when an error occurs elsewheresingularity

 

4. Solution: Add a Z Offset

To prevent this,  using a Z-axis offset hardware (e.g., +200 mm). This gives the robot more room to move down and avoid singularity on lower layers.

5. Optional: Use Bounding Boxes to Filter Orientation

Bounding boxes can be used in the software to restrict the robot's orientation when looking for the contact pose. This ensures the tool does not rotate into extreme angles during descent.

 

6. Program concept detailed

Conclusion

By combining a fixed entry pose, contact detection, and Z offset, you create a flexible yet reliable depalletization program. The only tradeoff is ensuring that the entry pose itself is feasible from all approach directions. Using bounding boxes and slight height margins can solve most cases.

Download the sample template program :  here

Updated: October 2025