With the GRIPPER SNATCH app you can grasp objects.
You can apply the following settings:
- Opening-/closing position *
- Gripping force in N
- Object’s weight
- Tolerance of the object’s width
* Depending on the gripping position while starting the app, the object is grasped from outside to inside or from inside to outside.
- Gripping parts at the position of the end effector.
Limitations / possible parameterisation failure
- The gripping position while starting the app decides the gripping action (from inside to outside or from outside to inside)
- If the settings of the gripping range do not correspond with the object conditions, errors may arise. Especially if the gripper has a high deformation (for instance at high forces). Hence, check tolerance values of the object width (settings).
- The app solely controls the Franka hand and while starting the app it performs in accordance with the end effector position. We recommend to adjust the gripping position before starting the app (opening position using e.g. GRIPPER SET) and ensure the gripping position with e.g. CART MOTION.
- We guarantee the compatibility only in combination with Gimelli Engineering Apps.