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] Manually trigger the initialization of the connected gripper. This step is not needed for grippers that automatically initialize upon power-on. 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.

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].

Exceptions

std::logic_error

if robot is not in the correct control mode.

Note

Applicable control modes: all modes except IDLE.

Warning

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

Init()

void flexiv::rdk::Gripper::Init

(

)

[Blocking] Manually trigger the initialization of the connected gripper. This step is not needed for grippers that automatically initialize upon power-on.

Note

Applicable control modes: all modes except IDLE.

This function blocks until the request is successfully delivered.

Warning

This function returns before the initialization is finished, thus additional wait is needed before the gripper can take any commands.

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.

Exceptions

std::logic_error

if robot is not in the correct control mode.

Note

Applicable control modes: all modes except IDLE.

Warning

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

moving()

bool flexiv::rdk::Gripper::moving

(

)

const

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

Returns

True: moving, false: stopped.

states()

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

(

)

const

[Non-blocking] Access the current gripper states.

Returns

GripperStates value copy.

Note

Real-time (RT).

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.

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

• include/flexiv/rdk/gripper.hpp