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manageGripperAttachment

Attach or detach gripper connected to Universal Robots cobot

Since R2024a

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Syntax

manageGripperAttachment(ur,gripperRBT,action)

Description

example

manageGripperAttachment(ur,gripperRBT,action) performs the action specified in action on the gripper connected to a Universal Robot cobot. The gripperRBT object represents the rigid body tree model associated with gripper.

Examples

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Connect to a physical or simulated 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')

Detach the rigid body tree object, if the functionality of gripper is no longer required.

manageGripperAttachment(ur,gripperRBT,'detach')

Input Arguments

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

Gripper connected to a Universal Robots cobot, specified as a rigidBodyTree object. The rigidBodyTree object represents the rigid body tree model associated with the gripper.

Option to attach or detach the gripper, specified as attach or detach.

Version History

Introduced in R2024a

See Also