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Splash Forums Development SDK Translation Offset and 2 fingers rotation on KG-3

This topic contains 2 replies, has 2 voices, and was last updated by  LMathieu 1 year, 8 months ago.

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  • #2347

    LMathieu
    Participant

    Hello Kinova !

    We are trying to rotate our KG-3 gripper around the 2 opposable fingers.
    Currently, the end effector frame is aligned with the motor 6, and when we try to rotate a knob, too much forces are applied on the fingers.

    Does the function SetEndEffectorOffset(…) will specify a new end effector frame for the internal IK of the API ?

    Thanks a lot !

    #2348

    Alex
    Participant

    Hello LMathieu, I hope all is well!

    Yes, with this function you can program an offset in X, Y and Z (in meters).

    SetEndEffectorOffset (unsigned int status, float x, float y, float z)
    This function Set the end effector offset’s parameters. The end effector’s offset is a translation offset in meter applied to the end effector of the robotic arm. status indicates if the offset is applied or not (0 = not applied, 1 = applied)

    Keep us posted of the results!

    Thanks,

    #2385

    LMathieu
    Participant

    Hello,

    I successfully managed to turn around the 2 fingers on the KG-3 with the function setEndEffectorOffset with a offset of 0.02m on Y and by sending cartesian velocity command 🙂

    Thanks for the help!

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