flexiv::rdk::Gripper Class Reference

Interface with the robot gripper. More...

#include <gripper.hpp>

Public Member Functions
	Gripper (const Robot &robot)
	[Non-blocking] Create an instance and initialize gripper control interface. More...
void	Init ()
	[Blocking] Initialize the gripper. More...
void	Grasp (double force)
	[Non-blocking] Grasp with direct force control. Requires the mounted gripper to support direct force control. More...
void	Move (double width, double velocity, double force_limit=0)
	[Non-blocking] Move the gripper fingers with position control. More...
void	Stop ()
	[Blocking] Stop the gripper. More...
bool	moving () const
	[Non-blocking] Whether the gripper fingers are moving. More...
const GripperStates	states () const
	[Non-blocking] Access the current gripper states. More...

Detailed Description

Interface with the robot gripper.

Examples

basics6_gripper_control.cpp.

Definition at line 19 of file gripper.hpp.

Constructor & Destructor Documentation

Gripper()

flexiv::rdk::Gripper::Gripper

(

const Robot &

robot

)

[Non-blocking] Create an instance and initialize gripper control interface.

Parameters

[in]

robot

Reference to the instance of flexiv::rdk::Robot.

Exceptions

std::runtime_error

if the initialization sequence failed.

Member Function Documentation

Grasp()

void flexiv::rdk::Gripper::Grasp

(

double

force

)

[Non-blocking] Grasp with direct force control. Requires the mounted gripper to support direct force control.

Parameters

[in]

force

Target gripping force. Positive: closing force, negative: opening force [N].

Note

Applicable control modes: all modes except IDLE.

Exceptions

std::logic_error

if robot is not in the correct control mode.

Warning

Target inputs outside the valid range (specified in gripper's configuration file) will be saturated.

Examples

basics6_gripper_control.cpp.

Init()

void flexiv::rdk::Gripper::Init

(

)

[Blocking] Initialize the gripper.

Note

Applicable control modes: all modes except IDLE.

This function blocks until the initialization is finished.

Examples

basics6_gripper_control.cpp.

Move()

void flexiv::rdk::Gripper::Move	(	double	width,
		double	velocity,
		double	force_limit = 0
	)

[Non-blocking] Move the gripper fingers with position control.

Parameters

[in]	width	Target opening width [m].
[in]	velocity	Closing/opening velocity, cannot be 0 [m/s].
[in]	force_limit	Maximum output force during movement [N]. If not specified, default force limit of the mounted gripper will be used.

Note

Applicable control modes: all modes except IDLE.

Exceptions

std::logic_error

if robot is not in the correct control mode.

Warning

Target inputs outside the valid range (specified in gripper's configuration file) will be saturated.

Examples

basics6_gripper_control.cpp.

moving()

bool flexiv::rdk::Gripper::moving

(

)

const

[Non-blocking] Whether the gripper fingers are moving.

Returns

True: moving, false: stopped.

Examples

basics6_gripper_control.cpp.

states()

const GripperStates flexiv::rdk::Gripper::states

(

)

const

[Non-blocking] Access the current gripper states.

Returns

GripperStates value copy.

Note

Real-time (RT).

Examples

basics6_gripper_control.cpp.

Stop()

void flexiv::rdk::Gripper::Stop

(

)

[Blocking] Stop the gripper.

Note

Applicable control modes: all modes.

This function blocks until the gripper control is transferred back to plan/primitive.

Examples

basics6_gripper_control.cpp.

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The documentation for this class was generated from the following file:

• include/flexiv/rdk/gripper.hpp