Force-Sensing UR Pick-Place Robot

I am looking to deploy a Universal Robots cell that can safely lift stainless-steel frames arriving in a single stack and place each one into a downstream machine or work-station. Because the frames are both delicate and irregular, the end-of-arm tooling must constantly adjust its grip through real-time force feedback so there is zero risk of distortion or scratching.

Here is what I need from you:

• Complete UR program (PolyScope / URScript) that detects the top frame in the stack, applies just enough force to grasp it, and releases it precisely at the target location.
• Integration of a compatible force-torque sensor and the logic that modulates grip pressure throughout the motion.
• Gripper selection or custom design guidance suited to thin stainless-steel profiles, including finger geometry and compliant pads.
• Documentation and a quick-start guide covering sensor calibration, stack height adjustment, and teach-point updates so my technicians can make routine tweaks without rewriting code.

Acceptance criteria
• Robot consistently removes one frame at a time from the stack without jamming or double-picking.
• Maximum surface deflection on any frame stays below the tolerance we verify with a simple feeler-gauge test.
• Cycle time meets or beats the manual process it will replace.

Experience with UR models, force-torque integration, and past projects handling fragile metals will be key. If this sounds like your specialty, I’m ready to review your proposed approach and timeline.