Rethink Robotics Baxter User Manual page 60

ELECTRIC PARALLEL GRIPPER SETTINGS:
• Grip Speed (%): Gripper closing speed as a percentage of maximum.
• Release Speed (%): Gripper opening speed as a percentage of maximum.
• Object Detection Force (%): Threshold for object detection—the amount of force
required to detect when an object is grasped before the robot moves to the next
action.
Note
: If the force is set too high, a soft object in the gripper may not be detected. Set high
initially, and back it off if the gripper is crushing things.
VACUUM CUP GRIPPER SETTINGS:
• Blow off time (sec): Amount of time the vacuum gripper will blow air when releas-
ing an object. (Note that this feature requires additional "plumbing.")
• Grip Detection Threshold (%): Threshold in which the vacuum sensor detects a
successful pick. This setting is intended for custom vacuum cup grippers and/or
3rd party vacuum cups, and is dependent on the mechanical properties of the
vacuum cup mechanism.
Examples:
For a single piece of paper, which is likely porous, set a lower threshold.
•
That tells Baxter the material is porous and the gripper sensor will trigger
at a lower threshold.
Training and Managing Tasks
58
Intera 3.2