Gripper Control Method

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zhy149
Posts: 132
Joined: 14 Apr 2021, 20:18

Gripper Control Method

Post by zhy149 »

Hi Coppelia,

What are the ways to control a general gripper? What about Robotiq-85? Should I use torque control or velocity control?
Thank you!

coppelia
Site Admin
Posts: 10339
Joined: 14 Dec 2012, 00:25

Re: Gripper Control Method

Post by coppelia »

Hello,

the Robotiq-85 gripper is quite complex, and I wouldn't modify it too much. It uses force/torque control, together with a max. opening/closing velocity. Check the attached child script for details.

Cheers

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