Capability:Gripper Control
| Gripper Control | |
|---|---|
| Type | Actuation |
| Measures/Controls | Jaw position and grip force |
| Common Hardware | Servo-driven grippers, pneumatic grippers, parallel jaw grippers |
| Enables Activities | Activity:Object Manipulation, pick-and-place |
| Status | Stub - Not yet implemented in BRS robots |
Gripper Control is a actuation capability that opens and closes mechanical jaws to grasp objects.
Overview
This is a stub page. This capability is not yet implemented in any BRS robot. This page exists to:
- Document the concept for future implementation
- Invite community members to add it to their robots
- Provide a starting point for hardware selection
What It Controls
Jaw position and grip force
Common Hardware
Servo-driven grippers, pneumatic grippers, parallel jaw grippers
Enables Activities
Adding this capability to your robot would enable:
Technical Considerations
- **Advantages**: Enables physical interaction with environment, relatively simple mechanism
- **Disadvantages**: Object-specific design, requires force feedback for delicate objects
- **Typical cost**: $10-50 for servo gripper kit
- **Control**: Via servo or pneumatic solenoid
- **Grip width**: 20-100mm typical for small robots
- **Payload**: 50g-500g typical
Contributing
Want to add this capability to your robot? Here's how:
- Select appropriate hardware (see "Common Hardware" above)
- Mount the hardware to your robot chassis
- Wire to your microcontroller
- Write driver code or use existing libraries
- Test and calibrate
- Document your implementation
- Update this page with your findings
- Share on Discord
See Also
- Capabilities - All capabilities
- Activities - What this capability enables
- Robotics Ontology - How capabilities fit into BRS knowledge structure