Hi,
I have the following question regarding using the xarm. I am using a Xarm 7.
To provide a bit more context, I am using the arm for opening articulated objects e.g., cabinet and fridge doors and I found the default collision sensitivity is too sensitive (even set to level 1), where anytime the robot grasps the handle and tries to open it the safety threshold triggers and the robot stops moving. Setting the sensitivity to 0 works, but sometimes it then triggers the torque overload or joint servo error during opening (which I guess is due to that too much force is from the tcp), and I am concerned this will shorten the life of the robot, so this does not seem an ideal option too.
I read from this post on the forum: The Principles of Robot Collision Detection and Handling of False Triggers(Error C31) saying that you may need to dynamically change the tcp payload for e.g., picking place objects, when the object is heavy. Is this the correct way to go in my setup? What’s the maximum tcp load that a X arm can accept?
My guess is that in the ideal situation, by adjusting the tcp payload dynamically after the robot grasps the handle and starts opening, I should be able to keep the collision sensitivity to level 1. I want to set it to be 1 to protect the arm; and by increasing the payload I think the collision safety protection won’t be triggered that often. Is my understanding correct on this?
I would appreciate any help and suggestion on this!
Thanks,
Yufei