Demonstrates how to create a gripper driver contribution for a more advanced gripper
Advanced Gripper demonstrates how to create a gripper driver contribution for a more advanced gripper that supports some of the optional gripper capabilities and controls the Output Voltage setting of the Tool I/O Interface resource. The URCap shows how to:
- Configure gripper capabilities for, e.g. width, speed, force and vacuum
- Request exclusive control of the Tool I/O Interface resource
- Configure the Output Voltage I/O setting of the Tool I/O Interface
Note:
- Feedback capabilities of the gripper is only available from URCap API version 1.9.0 (released with PolyScope version 3.12.0/5.6.0)
Information:
- Available from:
- URCap API version 1.8.0.
- PolyScope version 3.11.0/5.5.0.
Main API interfaces: GripperContribution, GripperCapabilities, SystemConfiguration, GripActionParameters, ReleaseActionParameters.