XenseGripper Overview

xensegripper controls an Xense gripper locally or through a compute unit. It offers three modes:

• POSITION: default position mode.
• SPEED: closed-loop velocity mode; positive closes, negative opens, and zero stops.
• SAFE: tactile-feedback control using a connected sensor.

The public position coordinate is 0 mm fully closed and 85 mm fully open. Speed and force limits are also enforced by firmware, so validate inputs in the application.