Interface with the robot gripper. Because gripper is also a type of device, this API uses the same underlying infrastructure as rdk::Device, but with functions tailored specifically for gripper controls. More...

#include <gripper.hpp>

Public Member Functions
	Gripper (const Robot &robot)
	[Non-blocking] Create an instance and initialize gripper control interface. More...

void	Enable (const std::string &name)
	[Blocking] Enable the specified gripper as a device, same as Device::Enable(). More...

void	Disable ()
	[Blocking] Disable the currently enabled gripper, similar to Device::Disable(). More...

void	Init ()
	[Blocking] Manually trigger the initialization of the enabled gripper. This step is not needed for grippers that automatically initialize upon power-on. 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 force_limit=0)
	[Blocking] Move the gripper fingers with position control. More...

void	Stop ()
	[Blocking] Stop the gripper and hold its current finger width. More...

const GripperParams	params () const
	[Non-blocking] Parameters of the currently enabled gripper. More...

const GripperStates	states () const
	[Non-blocking] Current states data of the enabled gripper. More...

Detailed Description

Interface with the robot gripper. Because gripper is also a type of device, this API uses the same underlying infrastructure as rdk::Device, but with functions tailored specifically for gripper controls.

Definition at line 77 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

◆ Disable()

void flexiv::rdk::Gripper::Disable ( )

[Blocking] Disable the currently enabled gripper, similar to Device::Disable().

Exceptions

std::logic_error	if no gripper device is enabled.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

◆ Enable()

void flexiv::rdk::Gripper::Enable ( const std::string & name )

[Blocking] Enable the specified gripper as a device, same as Device::Enable().

Parameters

[in] name Name of the gripper device to enable, must be an existing one.

Exceptions

std::logic_error	if the specified gripper device does not exist or a gripper is already enabled.
std::runtime_error	if failed to deliver the request to the connected robot or failed to sync gripper parameters.

Note: This function blocks until the request is successfully delivered.; There can only be one enabled gripper at a time, call Disable() on the currently enabled gripper before enabling another gripper.

Warning: There's no enforced check on whether the enabled device is a gripper or not. Using this API on a non-gripper device will likely lead to undefined behaviors.

◆ Grasp()

void flexiv::rdk::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].

Exceptions

std::logic_error	if no gripper device is enabled.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

Warning: Target inputs outside the valid range (see params()) will be saturated.

◆ Init()

void flexiv::rdk::Gripper::Init ( )

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

Exceptions

std::logic_error	if no gripper device is enabled.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

Warning: This function does not wait for the initialization sequence to finish, the user may need to implement wait after calling this function before commanding the gripper.

◆ Move()

void flexiv::rdk::Gripper::Move	(	double	width,
		double	velocity,
		double	force_limit = `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]	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 no gripper device is enabled.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

Warning: Target inputs outside the valid range (see params()) will be saturated.

◆ params()

const GripperParams flexiv::rdk::Gripper::params ( ) const

[Non-blocking] Parameters of the currently enabled gripper.

Returns: GripperParams value copy.

◆ states()

const GripperStates flexiv::rdk::Gripper::states ( ) const

[Non-blocking] Current states data of the enabled gripper.

Returns: GripperStates value copy.

Note: Real-time (RT).

◆ Stop()

void flexiv::rdk::Gripper::Stop ( )

[Blocking] Stop the gripper and hold its current finger width.

Exceptions

std::logic_error	if no gripper device is enabled.
std::runtime_error	if failed to deliver the request to the connected robot.

Note: This function blocks until the request is successfully delivered.

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

include/flexiv/rdk/gripper.hpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ Gripper()

Member Function Documentation

◆ Disable()

◆ Enable()

◆ Grasp()

◆ Init()

◆ Move()

◆ params()

◆ states()

◆ Stop()