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Question - Gripper servo load is very high when opening the gripper #91

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opened 2025-07-08 08:36:09 -04:00 by AtHeartEngineer · 0 comments
AtHeartEngineer commented 2025-07-08 08:36:09 -04:00
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Originally created by @nomorewzx on 12/28/2024

Hi,

I am now trying to implment a simple force control for the gripper. I am using the "Present_Load" value to approximate the force that the gripper applys on objects.

However I found one interesting thing:

  1. When I open the gripper, the "Present_Load" is very high, ~1042
  2. When I close the gripper without touching any object, the "Present_Load" is very low, ~14

This is not a major blocker to me since the gripper works pretty well. But I am just curious if anyone else entouner this?

*Originally created by @nomorewzx on 12/28/2024* Hi, I am now trying to implment a simple force control for the gripper. I am using the "Present_Load" value to approximate the **force** that the gripper applys on objects. However I found one interesting thing: 1. When I open the gripper, the "Present_Load" is very high, ~1042 2. When I close the gripper without touching any object, the "Present_Load" is very low, ~14 This is not a major blocker to me since the gripper works pretty well. But I am just curious if anyone else entouner this?
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Reference: github/SO-ARM100#91
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