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About nselby

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  1. nselby

    Sawyer robot's connection with Robotiq gripper

    The links have changed in the past year. I think the new links are: Robotiq Assets: https://assets.robotiq.com/website-assets/support_documents/document/online/Hand-E_Instruction_Manual_Web_20190306.zip/Hand-E_Instruction_Manual_Web/Content/6. Specifications.htm The part number for the adapter is AGC-CPL-064-002. I'm looking into buying this to test on my Sawyer. I'll edit this post with an update later. Remember that Sawyer's end-of-arm tool plate is ISO 9409-1-40-4-M6.
  2. nselby

    Sawyer Jacobian

    I know this is super late, but here's something potentially useful. It's still in development, but I've been using this GitHub repository with decent success: https://github.com/rupumped/sawyer_pykdl/
  3. nselby

    Individual Joint Impedance Control

    I want to be able to move the end effector freely along a circle about the base of my Sawyer with my hand. Is there a script similar to set_interaction_options.py or constrained_zeroG.py that will allow me to constrain individual joints?