A useful application for Admittance control

Project Showcase & Collaboration
1

I’m back with another cool demo clip of the xArm7!

In admittance mode, the robot is pushed back when it encounters the table. In this mode, we can pick up objects that are very low to the table without having to precisely localize to the table surface height.

This is a follow-up to my previous post on admittance mode. I originally encountered some issues when encountering hard surfaces like tables, but Daniel from the uFactory team helped me with settings tweaks and a beta firmware update so that the arm is behaving nicely.

I was originally thinking that I would need a parallel gripper to pick up small items like screws, because the curved of the RobotIQ gripper would collide with the table. But it’s much cheaper and flexible to find the solution in software!

2

Cool, it should be very useful in the vision pick.

3

I posted a longer demo here on reddit.

4

Great project. Are you planning to use pre-trained models for vision-guided tasks in the future?

5

Yup! I imagine I’ll have to fine tune a little. I’ll let you know if AI can solve the children’s toy