I am looking into finding a way, to check weather the arm has succeded or not in picking up a tube, using the suction cup.
Initial ideas were: check for a barcode, or pass a light-curtain, but I would rather, if the robot can check it on its own using python.
My idea was, that the robot must be able to do a read out on force applied to its joints, as it has collision safety levels, right?
If I move the arm when its supposed to be holding a tube, to a position, where it will have contact with the table, can I then get a read out stating weather the tube is there or not?
Let me know what you think, and thanks in advance!