Force/Torque sensor for end effector for pick and place
Hello everyone,
I am working on a project where I want to build a controller for and end effector for pick and place tasks. The object to be picked and placed can be rigid or deformable. To that end, I want to implement force/torque sensors to my end effector. I have researched some methods to do that and have come up with the two following:
The simulation is done in Gazebo. The first method is to include it through Gazebo:
http://gazebosim.org/tutorials?tut=force_torque_sensor&cat=sensors#Applyforcesandtorquesingazebo
I have also seen that in ROS there are packages for force/torque/touch sensors:
http://wiki.ros.org/Sensors#Force.2BAC8-Torque.2BAC8-Touch_Sensors
I have build the manipulator with the end effector with urdf/xacro files. Does anyone have any experiences in implementing force/torque sensors and can give me some tips?
Thank you.
Asked by lisa.gebert on 2020-04-03 10:53:40 UTC
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