With SNATCH MOVE you can grasp objects at a defined position. The app solely works with the Franka Hand.

You can apply the following settings:

  • Position above the object
  • Gripping-position
  • Opening-/closing position *
  • Grabbing-speed
  • Gripping force in N **
  • Object’s weight
  • Tolerance of the (object) width (epsilon) ***
  • Robot motion speed and acceleration

* Depending on the gripper finger position, it will move from outside to inside or from inside to outside.

** We cannot guarantee the accurate force setting. In this respect, interpret the setting more as a guideline (little to more).

*** Grasp different flexible objects with the appropriate EPSILON value. If the tolerance exceeds, the app generates an error.

  • Picking objects.
  • In combination with ARRAY applicable on defined pattern positions.
Limitations / possible parameterisation failure
  • 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 set values of the object width.
  • We guarantee the compatibility only in combination with Gimelli Engineering Apps.
System requirements
  • PANDA robot with Firmware 4+.
  • Franka Hand.