Universal Robots UR3e

Stacking During Stacking, the robot arm moves to point A , then moves opposite the direction to
search for the next stack position. When the next stack position is found, the robot
remembers it and performs the special sequence.
In subsequent rounds, the robot starts the search from the remembered position,
incremented by the item's thickness along the direction.
Stacking is complete when the stack height is more than some defined number, or
when a sensor gives a signal.
User Manual 247 UR3e
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