Detecting surface contact with robotic arm

Detecting surface contact with robotic arm

Hi!

I have a robotic arm that has a tool attached to its end. I want to implement a routine that can detect when the tool hits the table, so that I can calculate the height of objects on the surface under the tool: the arm would move down slowly until the tool touches something. To register this contact I tried using a force sensitive resistor between the arm and the tool (see image). However, I realized I would need give the tool some play to move and press against the FSR, which would make the tool unstable when in use. So maybe a FSR is not the right way. What is the typical way to achieve this kind of contact detection? Can someone point me in the right direction?

Thank you very much!

https://preview.redd.it/yv5sgtlf5vn51.jpg?width=1619&format=pjpg&auto=webp&s=9577cedc1ed7837f6ed39e7d68ccd4cee9c33fd0

submitted by /u/gyptii
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