Adaptive Grasping
Compliant Grasping
GripCompExt
Primitive Description and Usage
Description: This primitive drives grippers to perform compliant gripping motions while limiting the maximum contact force between the gripper and the object. Gripper fingers close in this primitive to grip objects from outside. When the object is not in the center of two fingertips, the gripper may contact the object with one finger first and push the object toward the other finger. However, this can cause damage to the object if it is fixed. This primitive eliminates this risk by allowing the robot TCP to move compliantly during gripping.
Example Usage: Use this primitive to grip objects from outside.
Primitive Input Parameters
Input Parameter |
Description |
Type |
Unit |
Default Value & Range |
---|---|---|---|---|
gripVel |
Gripper closing velocity |
DOUBLE |
m/s |
0.01 ∈ [0.0 … 0.05] |
gripWidth |
Target grip width |
DOUBLE |
m |
0.0 ∈ [0.0 … 0.1] |
gripForce |
Target grip force |
DOUBLE |
N |
30.0 ∈ [0.0 … 50.0] |
compAxis |
Compliant axis of TCP coordinate during gripping |
TYPE |
none |
Y ∈ [X Y Z XY XZ YZ XYZ] |
Primitive State Parameters
State Parameter |
Description |
Type |
Unit |
---|---|---|---|
terminated |
The termination flag of the primitive. It is set to true if the primitive is terminated. |
BOOL |
none |
timePeriod |
The time spent on running the current primitive. |
DOUBLE |
s |
curGripWidth |
Current grip width. This variable is only valid when the time period of this primitive exceeds 0.1s. |
DOUBLE |
m |
reachGripForce |
Flag to indicate if the gripper reached the target grip force. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
reachGripWidth |
Flag to indicate if the gripper reached the target grip width. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
isGripMoving |
Flag to indicate if gripper fingers are still moving. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
graspComplete |
Flag to indicate if the grasping action is complete |
BOOL |
none |
Primitive Output Parameters
Output Parameter |
Description |
Type |
Unit |
---|---|---|---|
tcpPoseOut |
The TCP pose when the primitive is terminated. It is represented in the world coordinate system. |
COORD |
m-deg |
Default Transition Condition
State Parameter |
Condition |
Value |
---|---|---|
graspComplete |
= |
1 |
GripCompInt
Primitive Description and Usage
Description: This primitive drives grippers to perform compliant gripping motions while limiting the maximum contact force between the gripper and the object. Gripper fingers open in this primitive to grip objects from inside. When the object is not in the center of two fingertips, the gripper may contact the object with one finger first and push the object toward the other finger. However, this can cause damage to the object if it is fixed. This primitive eliminates this risk by allowing the robot TCP to move compliantly during gripping.
Example Usage: Use this primitive to grip objects from inside.
Primitive Input Parameters
Input Parameter |
Description |
Type |
Unit |
Default Value & Range |
---|---|---|---|---|
gripVel |
Gripper opening velocity |
DOUBLE |
m/s |
0.01 ∈ [0.0 … 0.05] |
gripWidth |
Target grip width |
DOUBLE |
m |
0.1 ∈ [0.0 … 0.1] |
gripForce |
Target grip force |
DOUBLE |
N |
30.0 ∈ [0.0 … 50.0] |
compAxis |
Compliant axis of TCP coordinate during gripping |
TYPE |
none |
Y ∈ [X Y Z XY XZ YZ XYZ] |
Primitive State Parameters
State Parameter |
Description |
Type |
Unit |
---|---|---|---|
terminated |
The termination flag of the primitive. It is set to true if the primitive is terminated. |
BOOL |
none |
timePeriod |
The time spent on running the current primitive. |
DOUBLE |
s |
curGripWidth |
Current grip width. This variable is only valid when the time period of this primitive exceeds 0.1s. |
DOUBLE |
m |
reachGripForce |
Flag to indicate if the gripper reached the target grip force. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
reachGripWidth |
Flag to indicate if the gripper reached the target grip width. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
isGripMoving |
Flag to indicate if gripper fingers are still moving. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
graspComplete |
Flag to indicate if the grasping action is complete |
BOOL |
none |
Primitive Output Parameters
Output Parameter |
Description |
Type |
Unit |
---|---|---|---|
tcpPoseOut |
The TCP pose when the primitive is terminated. It is represented in the world coordinate system. |
COORD |
m-deg |
Default Transition Condition
State Parameter |
Condition |
Value |
---|---|---|
graspComplete |
= |
1 |
Contact Grasping
GripContactExt
Primitive Description and Usage
Description: This primitive is designed to grip small/thin objects on flat surfaces. The gripper contacts the surface first and keeps maintaining the contact while closing the fingers. Users can specify the contact force in primitive parameters. Gripper fingers close in this primitive to grip objects from outside.
Example Usage: Use this primitive to grip small/thin objects on flat surfaces from outside.
Primitive Input Parameters
Input Parameter |
Description |
Type |
Unit |
Default Value & Range |
---|---|---|---|---|
gripVel |
Gripper closing velocity |
DOUBLE |
m/s |
0.01 ∈ [0.0 … 0.05] |
gripWidth |
Target grip width |
DOUBLE |
m |
0.0 ∈ [0.0 … 0.1] |
gripForce |
Target grip force |
DOUBLE |
N |
30.0 ∈ [0.0 … 50.0] |
contactAxis |
Approaching direction toward the contact surface in TCP coordinate system |
TYPE |
none |
Z ∈ [X -X Y -Y Z -Z] |
contactForce |
Target force in the approaching direction after engaging the contact |
DOUBLE |
N |
5 ∈ [1.0 … 6.0] |
Primitive State Parameters
State Parameter |
Description |
Type |
Unit |
---|---|---|---|
terminated |
The termination flag of the primitive. It is set to true if the primitive is terminated. |
BOOL |
none |
timePeriod |
The time spent on running the current primitive. |
DOUBLE |
s |
curGripWidth |
Current grip width. This variable is only valid when the time period of this primitive exceeds 0.1s. |
DOUBLE |
m |
reachGripWidth |
Flag to indicate if the gripper reached the target grip width. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
reachGripForce |
Flag to indicate if the gripper reached the target grip force. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
isGripMoving |
Flag to indicate if gripper fingers are still moving. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
graspComplete |
Flag to indicate if the grasping action is complete |
BOOL |
none |
Primitive Output Parameters
Output Parameter |
Description |
Type |
Unit |
---|---|---|---|
tcpPoseOut |
The TCP pose when the primitive is terminated. It is represented in the world coordinate system. |
COORD |
m-deg |
Default Transition Condition
State Parameter |
Condition |
Value |
---|---|---|
graspComplete |
= |
1 |
GripContactInt
Primitive Description and Usage
Description: This primitive is designed to grip small/thin objects on flat surfaces. The gripper contacts the surface first and keeps maintaining the contact while opening the fingers. Users can specify the contact force in primitive parameters. Gripper fingers open in this primitive to grip objects from inside.
Example Usage: Use this primitive to grip small/thin objects on flat surfaces from inside.
Primitive Input Parameters
Input Parameter |
Description |
Type |
Unit |
Default Value & Range |
---|---|---|---|---|
gripVel |
Gripper opening velocity |
DOUBLE |
m/s |
0.01 ∈ [0.0 … 0.05] |
gripWidth |
Target grip width |
DOUBLE |
m |
0.1 ∈ [0.0 … 0.1] |
gripForce |
Target grip force |
DOUBLE |
N |
30.0 ∈ [0.0 … 50.0] |
contactAxis |
Approaching direction toward the contact surface in TCP coordinate |
TYPE |
none |
Z ∈ [X -X Y -Y Z -Z] |
contactForce |
Target force in the approaching direction after engaging the contact |
DOUBLE |
N |
5 ∈ [1.0 … 6.0] |
Primitive State Parameters
State Parameter |
Description |
Type |
Unit |
---|---|---|---|
terminated |
The termination flag of the primitive. It is set to true if the primitive is terminated. |
BOOL |
none |
timePeriod |
The time spent on running the current primitive. |
DOUBLE |
s |
curGripWidth |
Current grip width. This variable is only valid when the time period of this primitive exceeds 0.1s. |
DOUBLE |
m |
reachGripWidth |
Flag to indicate if the gripper reached the target grip width. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
reachGripForce |
Flag to indicate if the robot reached the target grip force. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
isGripMoving |
Flag to indicate if gripper fingers are still moving. This variable is only valid when the time period of this primitive exceeds 0.1s. |
BOOL |
none |
graspComplete |
Flag to indicate if the grasping action is complete |
BOOL |
none |
Primitive Output Parameters
Output Parameter |
Description |
Type |
Unit |
---|---|---|---|
tcpPoseOut |
The TCP pose when the primitive is terminated. It is represented in the world coordinate system. |
COORD |
m-deg |
Default Transition Condition
State Parameter |
Condition |
Value |
---|---|---|
graspComplete |
= |
1 |