Our setup uses Universal Robots UR5e for tray-to-fixture transfer with a small polymer housing in a supervised production bench. We've repeatedly adjusted pickup points as handling becomes unreliable.
Although the tray appears unchanged, the grip no longer looks as square. I'd like an inspection sequence that helps us identify the cause before making further teaching changes or attributing it to the arm.
Preserve the current settings and pause further nudges. Have maintenance inspect finger mounting, contact surfaces and tray seating under the proper isolation procedure, using that observation to guide the checks
The sequence makes pad installation worth investigating, but it doesn't establish causation. Fixture variation remains a possible contributor even with that maintenance history.
Agreed, I called it too early. Treat the replacement as a lead; verify installation and contact condition alongside tray location before assigning the cause
I can see the angle change during gripping, but I don't have an accepted correction yet. The point tweaks are paused while the inspection work continues.