SOFTCLAW —
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6.3.2 URCap overview
The easiest solution to control the qb SoftClaw from the Universal Robots ecosystem is to exploit the
URCap capabilities provided, and well described below.
As described in the general section, the qb SoftClaw can be controlled both in
position
and in
deflection
modality. Our URCap allows to quickly switch from one modality to another during a program execution,
to test the grasp before starting the program and to save a grasp that can
be
recalled whenever you need
in a Program Node
.
6.3.3 Installation Node
The qbrobotics Installation tab is the place where all the information about the qb SoftClaw state and its
stored settings are displayed all together.
Device Status Panel
The Device Status panel shows a led icon on its top right corner to quickly identify the connection state:
Red is for communication fault or non connected device;
Green, when everything looks good.
The "Reconnect" button is always enabled to manually reset the communication to the robot controller if
there is a connection problem.
In the same panel are shown the identification name of the device and the serial port on which it is
connected.
Below, the actual motor current and the actual SoftClaw closure state in percent value. If a program is
running while visiting the Installation Node, you can see these status bar varying accordingly to the
SoftClaw motion.
Grasp Values
In order to make the SoftClaw quick to use, a basic operating mode has been developed that can be used
during the programming phase (see
section). This panel allows the
user to set the force thresholds
(with
deflection
control mode) with which to grasp the object when the
icons are pressed.
Default values can be restored by pressing "Reset" button.
"Try" button,
next to each input box, can be
used to check whether the value is fine or needs to be changed. Lastly, the "Open" button opens the
SoftClaw fully.
The images used in this chapter refer to the e-Series Polyscope 5+, but a very similar interface
is available in Polyscope 3+ for CB-Series robots.
As described in the general section, the qb SoftClaw can be controlled both in
position
and in
deflection
modality. Our URCap allows to quickly switch from one modality to another during
a program execution, to test the grasp before starting the program and to save a grasp that can
be recalled
whenever you need in a Program Node.
