You can execute the end position calibration of the Franka hand with the GRIPPER REF app. The gripper fingers feel for the end positions (open & close).
- Initial calibration within a task.
- Setting of virtual end stops for instance to compress an object to a certain dimension. *
*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. To this end stop the following apps can success (such as GRIPPER SNATCH). Thus you can compress a flexible object to 20 mm.
Limitations / possible parameterisation failure
- The app solely controls the Franka Hand.
- We guarantee the compatibility only in combination with Gimelli Engineering Apps.
- PANDA robot with Firmware 4+ (for 3.x. available on request).
- Franka Hand.