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KHIIIKHIII-Gripper
User manual

Version 1.0 APRIL 2010

KheperaIII Gripper User Manual rev 1.0

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Documentation Author Frederic Lambercy K-Team S.A. Rue Galilee 9, Y-Park 1400 Yverdon-les-Bains Switzerland Email: info@k-team.com Url: www.k-team.com

LEGAL NOTICE:
• • • The contents of this manual are subject to change without notice All efforts have been made to ensure the accuracyof the content of this manual. However, should any error be detected, please inform K-Team. The above notwithstanding, K-Team can assume no responsibility for any error in this manual.

KheperaIII Gripper User Manual rev 1.0

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TABLE OF CONTENTS
1. INTRODUCTION ................................................................................................. 5
1.1. 1.2. 1.3. HOW TO USETHIS MANUAL ......................................................................................... 5 SAFETY PRECAUTIONS ................................................................................................. 6 RECYCLING ................................................................................................................. 6 UNPACKING AND INSPECTION...................................................................................... 7 GLOBAL VIEW ............................................................................................................. 7 ARM ............................................................................................................................ 8 GRIPPER.................................................................................................................... 10 BATTERY ................................................................................................................... 11 IR SENSORS AND OPTICAL BARRIER ........................................................................... 12 ELECTRICAL RESISTIVITY SENSOR ............................................................................. 12ASSEMBLING ............................................................................................................. 13 DISASSEMBLING ........................................................................................................ 14 UNPACKING TEST ...................................................................................................... 14

2.

THEGRIPPER...................................................................................................... 7
2.1. 2.2. 2.3. 2.4. 2.5. 2.6. 2.7.

3.

CONNECTIONS ................................................................................................. 13
3.1. 3.2. 3.3.

4.

PROGRAMMING THE GRIPPER .................................................................. 15
4.1. INSTALLATION OF THE LATESTLIBKOREBOT AND CONFIGURATION FILE ................... 15 4.2. TESTING THE GRIPPER WITH KGRIPPER_TEST SOFTWARE ........................................... 16 4.2.1. kgripper_test commands .................................................................................. 16 4.3. COMPILING YOUR OWN PROGRAM USING THE LIBKOREBOT ....................................... 18 4.3.1. High-level functions of thelibkorebot .............................................................. 18 4.3.2. I2C Register summary....................................................................................... 24 4.4. SOFTWARE EXAMPLE ................................................................................................. 25

5.

WARRANTY....................................................................................................... 26

KheperaIII Gripper User Manual rev 1.0

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1.

INTRODUCTION

The hardware of the KheperaIII is based on a modular concept. The gripper is a turret that can be plugged on the robot only if a KoreBotII is already plugged. Due to the configuration of the gripper, other turrets can be plugged on the top of it, such as a KoreUSBCam, a KoreLRF, a...
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