ActivMedia Robotics Pioneer Gripper, Manual

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voltage, and a variety of other factors. Under no-load and otherwise normal conditions,
assume approximately two centimeters per second of travel.
Table 3. AROS Gripper Client Command Set
COMMAND ARGUMENT LABEL ACTION
1 GRIPopen Open Gripper paddles
2 GRIPclose Close Gripper paddles; grasp pressure
regulated by command #16
3 GRIPstop Stop Gripper paddles
4 LIFTup Raise Lift
5 LIFTdown Lower Lift
33 6 LIFTstop Stop Lift
7 GRIPstore Simultaneously closes paddles and raises
Lift. For storage; not for
grasping/carrying an object
8 GRIPdeploy Simultaneously lowers Lift and opens
paddles. Not useful for object drops
(drops too soon), but for getting ready
to grasp an object.
15 GRIPhalt Halts both Gripper paddles and Lift
16 GRIPpress
Sets paddles grasping pressure; must
follow immediately with AROS command 36
with grasp time value.
17 LIFTcarry Intermediate Lift position; must follow
immediately with P2OS command 36 and
carry_time value
1-100 grasp_time Time delay in 20 millisecond increments
after Gripper paddles first grasp an
object and before they stop moving.
Regulates grasp pressure.
36 ± 1-255 carry_time Time in 20 millisecond increments to
raise (+) or lower (-) the Gripper lift;
allows for a “carry” position
G
RIPPER
S
TATES AND
S
TATUS
Besides the
DIGIN
and
DIGOUT
bytes found in the standard SIP ( Appendix A ), the Gripper
servers provide additional state information both in the standard SIP and in a special
GRIPPERpac
SIP.
Table 4. Gripper State Byte
BIT MEANING WHEN SET
(1)
G
0 Paddles open¹
R
1 Paddles close¹
I
2 Paddles moving
P
3 Gripper error
L
4 Lift up¹
I
5 Lift down¹
F
6 Lift moving
T
7 Lift error
¹ If both same state, paddles or lift position is unknown.
A Gripper state byte, which contents are described nearly, appears just after the sonar
readings in the standard SIP.
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