Could we override the built-in feature of object detection in 2F-140 gripper?

quanluu 2021-12-16

I have a question regarding a technical issue of the 2F-140 gripper.

I am doing research to develop a robotic finger that can send the touch feedback to ROS controllers, and in turn, will immediately stop gripper movement. This developed finger was integrated into your 2F-140 gripper for grasping action.

The problem is that once the TO POSITION command is sent to the gripper, we cannot stop the closing/opening action (when there is an object detected) before it reaches the set (target) position.

I do NOT want to use the object detection feature that came with the gripper product (built-in feature). So is there any way that we can stop the gripper before it reaches to target position, or possible to override the built-in (object detection) feedback signal?

Thank you for your help in advance.

MarcAndre_Baron 2021-12-16

Hi @quanluu,

Unfortunately, these features are hardcoded in the gripper themselves. This means there is no way to overwrite them. Let me know if you have any further questions.

bcastets 2021-12-16

You can stop the gripper when it is closing by requesting a move to the current finger position.

I recommend you check this article explaining how to change the grip force after the gripper stop on an object. It may be helpful for your project.
https://dof.robotiq.com/discussion/2249/adjust-force-after-object-detection-with-2f-and-hand-e#latest

quanluu 2021-12-16

Hi @MarcAndre_Baron, @bcastets,

Thank you for your help.

I am going to try that solution, and update you on the situation later.

quanluu 2022-01-19

Hi @MarcAndre_Baron , @bcastets ,

Thank you for your help,

I am going to try that solution, and update you on the situation later.