Gripper Flashcards
1
Q
What is needed for a gripper 6d calibration?
A
3 tpts with a known (CAD) Position on the flange/Tool
2
Q
What is the offset trafo?
A
a trafo, that can be applied AFTER TPT6D, to move the TCP coordsys to wherever the customer wants to have it
3
Q
what is the 9:6 error?
A
when using TPT6D, this is the error converting 3 TPTs (9dim) to 1 TCP (6dim). This error shows how much the SMRs move relative to each other
4
Q
how does one change the value of the Gripper offset trafo and see it in sim?
A
parid gripper window -> change value -> save and exit -> calc -> save objects
also, in scene view: press “a” -> enter ~TPT6DNODE
5
Q
what is the name of the scene node that represents the TCP for a tpt6d gripper?
A
~TPT6DNODE
