You can execute the final position calibration of the Franka hand with the GRIPPER REF app. The gripper fingers scan the final position open and closed.
- Initial calibration within a task.
- Setting of virtual end stops for instance to compress an object to a certain dimension. *
Limitations / possible parameterisation failure
- The app solely controls the Franka hand.
*To use virtual end stops it is mandatory to use appropriate reference objects while starting the app. For instance, if a 20 mm object is in between the gripper fingers while starting the app, the closed end position is adjusted to 20 mm. The apps which follow can access this end stop (such as GRIPPER SNATCH). Thus you can compress a flexible object to 20 mm.