https://wiki.bespokerobotsociety.org/index.php?action=history&feed=atom&title=Capability%3AGripper_ControlCapability:Gripper Control - Revision history2026-04-25T10:14:01ZRevision history for this page on the wikiMediaWiki 1.43.5https://wiki.bespokerobotsociety.org/index.php?title=Capability:Gripper_Control&diff=23&oldid=prevJohn: Claude edited based on my notes, prompt, and SimpleBot code repository2025-10-11T16:15:01Z<p>Claude edited based on my notes, prompt, and SimpleBot code repository</p>
<p><b>New page</b></p><div>{{Capability<br />
| name = Gripper Control<br />
| type = Actuation<br />
| measures = Jaw position and grip force<br />
| hardware = Servo-driven grippers, pneumatic grippers, parallel jaw grippers<br />
| enables = [[Activity:Object Manipulation]], pick-and-place<br />
| status = '''Stub''' - Not yet implemented in BRS robots<br />
}}<br />
<br />
'''Gripper Control''' is a actuation capability that opens and closes mechanical jaws to grasp objects.<br />
<br />
== Overview ==<br />
<br />
'''This is a stub page.''' This capability is not yet implemented in any BRS robot. This page exists to:<br />
* Document the concept for future implementation<br />
* Invite community members to add it to their robots<br />
* Provide a starting point for hardware selection<br />
<br />
== What It Controls ==<br />
<br />
Jaw position and grip force<br />
<br />
== Common Hardware ==<br />
<br />
Servo-driven grippers, pneumatic grippers, parallel jaw grippers<br />
<br />
== Enables Activities ==<br />
<br />
Adding this capability to your robot would enable:<br />
<br />
* [[Activity:Object Manipulation]]<br />
<br />
== Technical Considerations ==<br />
<br />
* **Advantages**: Enables physical interaction with environment, relatively simple mechanism<br />
* **Disadvantages**: Object-specific design, requires force feedback for delicate objects<br />
* **Typical cost**: $10-50 for servo gripper kit<br />
* **Control**: Via servo or pneumatic solenoid<br />
* **Grip width**: 20-100mm typical for small robots<br />
* **Payload**: 50g-500g typical<br />
<br />
== Contributing ==<br />
<br />
Want to add this capability to your robot? Here's how:<br />
<br />
# Select appropriate hardware (see "Common Hardware" above)<br />
# Mount the hardware to your robot chassis<br />
# Wire to your microcontroller<br />
# Write driver code or use existing libraries<br />
# Test and calibrate<br />
# Document your implementation<br />
# Update this page with your findings<br />
# Share on [[Discord]]<br />
<br />
== See Also ==<br />
<br />
* [[Capabilities]] - All capabilities<br />
* [[Activities]] - What this capability enables<br />
* [[Robotics Ontology]] - How capabilities fit into BRS knowledge structure<br />
<br />
[[Category:Capability]]<br />
[[Category:Actuation Capability]]<br />
[[Category:Stub]]</div>John