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How to Install the Robotiq 3-Finger Gripper on Kuka IIWA
/ Most recent by bcastets
Catherine_Bernier Posts: 144 Handy
edited April 2016 in Integration
This how-to is intended for the Robotiq 3-Finger 3.X.X, Kuka IIWA media flange and Kuka Sunrise Cabinet
What you need :
Robotiq 3-Finger gripper
Coupling for the gripper AGS-APL-157
Robotiq IIWA cable kit (electrical or pneumatic media flange) AGS-IIWA-CABLE-KIT-A/B
How to do it :
Install the coupling of the gripper on the Kuka IIWA wrist.
Install the gripper on the coupling.
Electrical and Communication installation
Kuka’s communication protocol is EtherCAT. So the built-in controller of the 3-Finger gripper converts the signal from RS485 to EtherCAT.
Connect the M8(electrical)/M12(pneumatic) cable for the power to the gripper and to the flange. (X36)
Connect the M8 communication cable to the gripper and to the flange.
Configure the inputs/outputs in WorkVisual
And you are good to go in Sunrise OS.
Enjoy the wire free Robotiq 3-Finger gripper!
Catherine Bernier, Jr. Eng.
Application Engineer at Robotiq
You indeed can control our 3-Finger Adaptive Robot Gripper with ROS using the Ethercat protocol. However, just to be sure I properly understood your question, will there be two different nodes ( 1-ROS and 2-Workvisual) on the same Ethercat network trying to change the gripper's parameters?
ROS Package Developper / Maintainer
I share it here below:
3F IIWA Cable Kit (electrical flange)
3F IIWA Cable Kit (pneumatic flange)
I have the gripper connected to the KUKA iiwa and I am able to control the gripper.
At the moment, I have ROS Subscriber, that receives a string message such as open/close and the 3-finger gripper manages to open /close the gripper.
However, as there are no joint state messages from the robot, It is hard to open or close the gripper via Moveit ROS package.
Do you by any chance have a KUKA Sunrise workbench application for the control of gripper using ROS Move it package? Or would you be able to provide one for the same, please?
Feel feel to reply here in case you need more information.
We have a ROS package for the 3F but nothing specific for Kuka.