Measure object dimensions using only a gripper

Learn how you can program the robot to measure the dimensions of objects using only a gripper and a reference point. Very suitable for quality inspection and sorting tasks.

00:49 Determine reference point
01:22 Move workpiece towards reference point
01:42 Detect contact using force sensor: get_tcp_force()
02:42 Set stop/wait condition
03:15 Save TCP position: get_actual_tcp_pose()
03:42 Calculate distance from TCP to reference point
04:14 Calculate total length
04:55 Example with calculations

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