How is the position of the gripper defined?

#1

Hey!

I can access the position of the robot with the serial protocol but I haven’t found a drawing that defines this pose. So for example if have z = 50, where do I have to put a ruler to measure this distance?

#2

have a look on this, it may answer your question.

coordinate.png1206x676 132 KB

#3

No it doesn’t. The question was about the position of the gripper. Could you mark the position of the gripper in this drawing?

#4

Hey!

Could you please answer this rather easy question?

#5

ok, maybe I get your question: if I chose Gripper in the Main window, then which point is using as the target point? is this what you are asking?
I will get back to you once I confirmed the answer.

#6

exactly. And also for the other gripper types would be perfect.

#7

as discussed with our enginneer, at this moment, the center of the axis 4 is used as the target point for both Gripper and Suction Cap. the reason is that both two end effector is connectedd to the axis 4 .

center.png592x603 66 KB

#8

And can you tell how this (x,y,z) center point shown in the picture is calculated from angles?

#9

Hi,

This is a little different from the picture in the recent documentation.

image
image.jpg2670x1536 354 KB

Could you please confirm the existing gripper center? More specifically, I need to know the height from the suction cup to the center of the gripper space.