flexiv::Gripper Class Reference

Interface with grippers supported by Flexiv. More...

#include <Gripper.hpp>

Public Member Functions
	Gripper (const Robot &robot)
	[Non-blocking] Create a flexiv::Gripper instance and initialize robot gripper control. More...
void	grasp (double force)
	[Blocking] Grasp with direct force control. Requires the mounted gripper to support direct force control. More...
void	move (double width, double velocity, double forceLimit=0)
	[Blocking] Move the gripper fingers with position control. More...
void	stop (void)
	[Blocking] Stop the gripper. More...
void	getGripperStates (GripperStates &output)
	[Non-blocking] Get current gripper states. More...

Detailed Description

Interface with grippers supported by Flexiv.

Examples

basics6_gripper_control.cpp.

Definition at line 18 of file Gripper.hpp.

Constructor & Destructor Documentation

Gripper()

flexiv::Gripper::Gripper

(

const Robot &

robot

)

[Non-blocking] Create a flexiv::Gripper instance and initialize robot gripper control.

Parameters

[in]

robot

Reference to the instance of flexiv::Robot.

Exceptions

InitException

if the initialization sequence failed.

Member Function Documentation

getGripperStates()

void flexiv::Gripper::getGripperStates

(

GripperStates &

output

)

[Non-blocking] Get current gripper states.

Parameters

[out]

output

Reference of output data object.

Examples

basics6_gripper_control.cpp.

grasp()

void flexiv::Gripper::grasp

(

double

force

)

[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 operation modes: all modes except IDLE.

Exceptions

ExecutionException

if error occurred during execution.

Warning

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

This function blocks until the request is successfully delivered to the robot.

Examples

basics6_gripper_control.cpp.

move()

void flexiv::Gripper::move	(	double	width,
		double	velocity,
		double	forceLimit = 0
	)

[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]	forceLimit	Maximum output force during movement [N]. If not specified, default force limit of the mounted gripper will be used.

Note

Applicable operation modes: all modes except IDLE.

Exceptions

ExecutionException

if error occurred during execution.

Warning

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

This function blocks until the request is successfully delivered to the robot.

Examples

basics6_gripper_control.cpp.

stop()

void flexiv::Gripper::stop

(

void

)

[Blocking] Stop the gripper.

Note

Applicable operation modes: all modes.

Exceptions

ExecutionException

if error occurred during execution.

Warning

This function blocks until the request is successfully delivered to the robot and 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/Gripper.hpp