How to determine the payload a UR5 may be carrying

asked 2020-02-28 09:49:00 -0500

shu gravatar image

updated 2020-02-28 09:50:19 -0500


I am using a real UR5 and am attempting to pick up an object with a pair of grippers at the end. As the grippers are just connected to the digital pins of the UR5 and have no sensors, there is no way currently to tell if the grippers have actually managed to grasp an object. Is there a way to read the payload a UR5 is carrying via ROS?


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How would you do this without ROS?

gvdhoorn gravatar image gvdhoorn  ( 2020-02-28 10:01:59 -0500 )edit