Glass Leveling with ATI Force/Torque Sensing and YASKAWA Teach Pendant

This application was designed to test the functionality of ATI’s Ethernet Force/Torque (F/T) Smart Pendant Extension software for the Yaskawa Smart Pendant. The setup used for this testing is shown below. A sheet of glass was inserted into a frame and then pressed flat into a layer of liquid adhesive. Data from the ATI F/T sensor was used throughout the application to dictate the robot’s movement and ensure that the glass was inserted properly.