Universal robot - How to rotate the gripper at the right angle?

    Hi guys!

    It's my first time with universal robot and i need help with gripper rotation.

    Let's imagine I have gripper with 10 suction cups and 2 sensors DI6,DI7. I have pallet with planks. Each layer is arranged at a different angle. I need to detect plank number "1" and rotate the gripper so that the suction cups are positioned perfectly over the plank.
    How do I measure the angle with these two sensors and how do I rotate the gripper by the specified angle?

    Planks are much larger than in the picture.

    Is each plank going to be in a different orientation each time?

    What devices are you using to define these orientations?

    If so I don't see this being easy to accomplish without a vision system to locate the plank each time consistently.

    If each carton has a different and random orientation. Put a camera rather than your 2 sensors. The cost will be largely profitable over the time you will take to create, and develop your solution. As well as on the maintenance time on the life of the machine (especially at the beginning of the life of your machine)

    Correct me if I'm wrong here, but you're attempting to use light ray based Optical sensors?

    I feel like a camera would benefit you a lot more here.

    Unless you have steady lighting and a completely different background color pallet it will be more difficult to replicate the correct pick each time while allowing the Sensors to adjust accordingly

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