11
6 marzo 2018
The description of the qb SoftHand research Graphical User Interface below refers to
numbers of Figure 5.1.
1) Two quick toggles let you set, respectively, the "fully open" configuration (0% closure
value) or the "fully closed" one (100% closure value). Everytime a toggle is pressed on
the teach pendant, the numeric field (2) is set accordingly.
2) The numeric input field shows the current closure value expressed in percentage.
You can change it with any number between 0 and 100 by clicking on it (a numeric pad
will appear on the screen) and the third toggle will be automatically selected if the
given value differs either from 0 or 100.
The system stores the manual selected value to be able to set it again each time the
manual selection toggle is pressed.
3) Four buttons speed up the manual closure value setup. Their behavior is as follows:
•
"-": subtracts 1% from the given value;
•
"--": subtracts 5% from the given value;
•
"+": adds 1% to the given value;
•
"
++”
: adds 5% to the given value.
In any case, the closure value cannot be greater than 100%, nor be smaller than 0%.
4) You can either close the qb SoftHand research to the given closure value (when it
says "test closure") or reopen it (when it says "reopen") to test how the hand actually
behaves and check whether it is suitable for the current task or needs any adjustment.
Refine the value with the quick buttons (3) and test it again until you are confident with
the grasp.
This is can be helpful especially while teaching the robot to perform a task and you
want to be sure that the given closure value fits properly the specific object you need
to grasp.
5) If everything is properly connected, the "reconnect" button should be disabled (i.e.
the qb SoftHand research is connected and powered), and you may even never need
it. However it can happen that the cable is accidentally unplugged during the task
