Appendix B: Specify Object And Custom Gripper Weights; How To Specify Object Weight - Rethink Robotics Baxter User Manual

Appendix B: Specify Object and
Custom Gripper Weights
To achieve optimized arm performance, you can specify the weight of the object Baxter will handle
as well as the weight of custom grippers you may use. This feature makes Baxter capable of recog-
nizing weight – and adjusting to it – so arm movements will be smoother and more efficient. For
instance, if you input a payload of three pounds (1.4 kg) for the gripper weight, Baxter will recognize
that weight, so when you squeeze the training cuff to move Baxter's arm, it will feel essentially
weightless and performance may also improve. (Note, however, that if you adjust the weight of a
custom gripper and do not specify that change, Baxter's arm performance will likely suffer.)
Baxter can support up to five pounds (2.2 kg) on each of its end arms. An end effector is made up of
the plate and its attachments (electronic gripper or vacuum, fingers).
NOTE: The five-pound limit includes both the weight of the objects Baxter will be handling and the
weight of the end effector itself, so keep that in mind when specifying total gripper weight.

How to Specify Object Weight

1. Select a Pick action or Pick action group on the Task Map and press OK on the
Navigator to display the Modify Task Window.
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