pyDHgripper: Control DH Gripper with Python
===========================================
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:
.. code:: bash
pip install pydhgripper
Or you can install the library from the source code:
.. code:: bash
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:
.. code:: bash
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:
.. code:: python
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.
.. code:: python
gripper.read_state()
- ``read_pos``: Read the position of the gripper.
.. code:: python
gripper.read_pos()
- ``set_force``: Set the force of the gripper.
.. code:: python
gripper.set_force(val='{FORCE}')
- ``set_pos``: Set the position of the gripper.
.. code:: python
gripper.set_pos(val='{POSITION}')
- ``set_vel``: Set the velocity of the gripper.
.. code:: python
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 <https://github.com/FrankJIE09/DaHuan-FingerControl>`__
by Frank.
The DH grippers are developed by DH Robotics. For more information,
please refer to the `DH Robotics
website <http://en.dh-robotics.com/>`__.
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