QB SOFTHAND RESEARCH USER GUIDE —23
6.1.5 e-Series Toolbar
This toolbar lets you quickly check the qb SoftHand state and tech new grasp values.
The two panels displayed are almost identical to the ones described in the Installation and Program
Nodes.
Figure 10. — qb SoftHand URCap e-Series Toolbar
6.1.6 Program Example
The following example is a simple pick-and-place robot program where the qb SoftHand is used as
grasping tool.
The example should be self-explainatory, but it is worth noticing that in many case a "pre-grasp" can help
to accomplish a task in a better fashion. This is strictly related to the specific task, but you can add as
many qb SoftHand Program Nodes as you need to let the hand pass in an even narrow spot. For example,
you may need a pre-grasp to be able to open a door through its handle.
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