Python library for controlling the DH gripper
Project description
Description
PyDHgripper is a Python library that allows you to control the DH gripper with Python. The DH grippers are a series of robot grippers which is widely used in grasping tasks. This library is based on the Modbus protocol, and the support types of DH gripper includes AG-95, DH-3, RGD, and PGE series.
Hardware Requirements
DH gripper
USB-to-RS485 converter
24V DC power supply
Here is a connection example for AG-95 gripper
Installation
The pyDHgripper library supports Python 2.x and Python 3.x. You can install the library using the following command:
pip install pydhgripper
Or you can install the library from the source code:
git clone https://github.com/han-xudong/pyDHgripper.git
cd pyDHgripper
pip install pip -U
pip install -r requirements.txt
Quick Start
For Linux, it’s needed to set the serial port permission first:
sudo chmod 777 /dev/ttyUSB0
# For CTS-B1.0,
# sudo chmod 777 /dev/ttyACM0
sudo usermod -aG dialout {userName}
reboot
Several types of DH grippers can be controlled with pyDHgripper. For example, to control the AG-95 gripper:
from pydhgripper import AG95
gripper = AG95(port='/dev/ttyUSB0')
And here are some functions that can be used to control the gripper:
read_state: Read the state of the gripper.
gripper.read_state()
read_pos: Read the position of the gripper.
gripper.read_pos()
set_force: Set the force of the gripper.
gripper.set_force(val='{FORCE}')
set_pos: Set the position of the gripper.
gripper.set_pos(val='{POSITION}')
set_vel: Set the velocity of the gripper.
gripper.set_vel(val='{VELOCITY}')
For more functions, please refer to the source code.
License and Acknowledgement
PyDHgripper is licensed under the MIT License.
Some core codes are developed based on DaHuan-FingerControl by Frank.
The DH grippers are developed by DH Robotics. For more information, please refer to the DH Robotics website.
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