Our application uses a camera to both identify the circular shape of a post/pedestal inside of a mold aswell as look at a rack with mandrels on it and pick one off the rack to then place inside the mold. In both cases, the robot uses the center of the circles as a reference point when picking mandrels and placing them.
Our issue is that there is very little tolerance when both the end effector is entering the mandrel and when the mandrel is placed on the pedestal so we occasionally get binding and eventually trip on a collision. We've already tried mechanical corrections like alignment and smoothing surfaces as much as we can so we're trying software now.
Our Shock sensor settings are as high as we're comfortable going so we're trying to identify if we can program the robots motion in such a way that it can correct based of the shock sensor or at the very least release tool1 when placing the mandrel and experiencing the binding. (I know this sounds bad but we'd only release knowing the mandrel is atleast part way on pedestal and let gravity do the rest).
Any help appreciated.
PS. please give general example of code if necessary as I'm still new to programming robots.
PSS. Please feel free to comment alternative approaches to our problem if trying to use the shock sensor reading isn't the best way.