Does the ymui smart grippers require a new tool frame?

ahmad_wahab_90

I'm using Yumi robot for doing some experiments related to my research, the robot is equipped with the servo grippers. till now I did some experiments using the tool0 frame but now I'm facing a problem that I need to have the gripper pointing at start point and then calculate the angle of rotation required to rotate to another goal point and from these info calculate the new quaternions required for the goal. I'm thinking that because I'm using the tool0 which frame is attached to (joint 6) i'm not getting the correct rotation angle. So will installing the grippers as a new tool say (tool1) will solve this problem?

thewater

Try to use this:

PERS tooldata Gripper:=[TRUE,[[0,0,136],[1,0,0,0]],[0.230,[8.2,11.7,52],[1,0,0,0],0.00021,0.00024,0.00009]];