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!