QB Robotics SoftClaw, Руководство пользователя

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SOFTCLAW — 35
Figure 10. — qb SoftClaw URCap Installation Node
6.3.4 Program Node
This Node aimed to send a command to the qb SoftClaw at a given time in a robot program. During
program phase, the user can choose either to use the commands in the Basic panel, to execute quick
actions that are good for grasping many types of objects, or to perform more specific actions through the
Advanced panel.
Basic Panel
This panel allows the user to program the qb SoftClaw simply by using 4 icons. By pressing one of the
buttons displayed in this tab, the deflection control modality is set automatically and thanks to them, it is
possible to set closure forces (to the soft , medium or strong thresholds that can be customized in
Installation Panel
(see Page 33)
) or release a grasped object selecting fully open button. The purpose of this
panel is to optimize programming time by simply pressing buttons enabling the device to grab objects
with common characteristics, e.g. fragile and light objects can be grasped with "soft grasp" button.
When you select a Grasp command equal to zero, it does not mean that the SoftClaw fully
opens but that it does not apply any force.
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