Calculate the weight of object held by gripper

[gplminhduc147]

Hello, I have an UR5 robot with RG2 gripper model working together. Can I use the force sensor to calculate the weight of an object which is holding by RG2 Gripper?

[fferri]

You will be measuring everything attached to the force sensor, including the gripper itself.

The force sensor will be measuring force \(\vec{F}\) and torque \(\vec{\tau}\) acting on it. Consider a mass \(M\) attached at point \(\vec{r}\) with respect to force sensor's origin, you'll have:

\(\vec{F} = M \cdot \vec{g}\)

\(\vec{\tau} = \vec{r} \times \vec{F}\)

[gplminhduc147]

So you mean that if I wanna get the object weight, I need to minus the weight of gripper, then devide it by the gravity, doesn't it ?

[HNpis]

Yes, you’re right! Just to clarify, have you tried measuring the gripper’s weight alone to ensure accuracy in the final calculation?