I have a KUKA robot picking and placing objects. The objects are on a machine in two parts, 1 part stays in the machine and the other is picked up, emptied, and put back by the robot. The halves are aligned with alignment pins.
Very occasionally the robot will pick the half up with the other half (i believe the alignment pins are snagging).
This doesn't happen very often but it would be nice if I could use torque monitoring or a payload calculation to combat this. E.g. once the robot has picked up the half, do a check to make sure the torque/payload is correct and then continue, if too heavy then stop and flag an alarm on the HMI.
Is this possible? Apologies if this is a basic question but I don't have much experience with robots.