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actuateGripper

Control attached gripper with grip or release action

Since R2024a

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Syntax

actuateGripper(ur,action)

Description

example

actuateGripper(ur,action) allows you to perform grip or release action on the gripper attached to Universal Robots cobot.

Note

The URcap for the gripper needs to be included in the robot program to use this feature. Currently, this setup works only for the hardware (not for simulated cobot). For details regarding the steps to download the URcap gripper, refer to Vacuum Grippers - Robotiq. To download the URcap, use this link.

Examples

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Connect to a physical cobot by using the urRTDEClient object.

ur = urRTDEClient('172.19.98.176');
ur = 
  urRTDEClient with properties:

            CobotName: 'universalUR5e'
       URControllerIP: '172.19.98.176'
    ControllerVersion: '5.11.1.0'
        RTDEFrequency: 125
    ConnectionTimeOut: 10

Attach the rigid body tree object that represents Robotiq gripper attached to the cobot.

gripperRBT = loadrobot('robotiq2F85', 'DataFormat', 'row', 'Gravity', [0 0 -9.81]);
manageGripperAttachment(ur,gripperRBT,'attach')

Grip the object if the hand of the gripper is at the right position.

actuateGripper(ur,'grip')

Release the object from the gripper.

actuateGripper(ur,'release')

Input Arguments

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Connection to physical or simulated cobot from Universal Robots, specified as a urRTDEClient object.

Option to grip or release the hand of gripper attached to Universal Robots cobot, specified as grip or release.

Version History

Introduced in R2024a

See Also