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Dimitris_MINES
Posts: 4 Apprentice
UR3 robot connected with Gripper (2F-140) & FT300 using ROS |
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/ Most recent by bcastets |
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Hi All,
I am working on the Universal robot UR3 with 2F gripper(2F-140) & FT300 with the latest ROS driver(Universal_Robots_ROS_Driver). Not the old ur_modern_driver.
With
Ubuntu 18.04 and ROS Melodic version. The robot is controlled with
Moveit! package and I am able to control the robot's position and
perform path planning.
I need to control the
gripper(activation, open, close, reset) and use the Force/Torque sensor data through ROS from the robot. I
found that it can be done when the gripper & the FT sensor are directly hooked into
a computer. But I need it to be done when the two parts are connected directly to the robot. Is there a way or if anyone can direct me how to
proceed with, that would be helpful.
I looked at this tool communication but does it works also for UR robots?
Thank you in advance,
Dimitris
https://dof.robotiq.com/discussion/1962/programming-options-ur16e-2f-85#latest
There are several option to control a gripper or ft300 connected to the robot.
1-via sending urscript using UR client interface
2-via rs485 urcap provided by UR
3-via sending commands to robotiq urcap server.
Whatever the solution you go for there is the work on the way to make things works.
The easiest solution is to have everything directly correct on the PC.
The wrist camera act like a webcam when connected on a pc.
I think it should work.
It is still possible to mount the gripper and the camera with separate cables. The camera is delivered with a mounting plate. You can mount on this plate a gripper coupling and wire the gripper directly to the PC.
I am not familiar with the communication process when camera and gripper are on the same cable but it should be possible to make both working at the same time from your PC.
I create a support ticket to try to give you more information on this.