finger gripper function

https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction

as defined in Capability Model ontology

version info
0.0.7
imports
title
Capability Model ontology
description
Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue.
comment
Capability Model (CM) is defining capabilities for production resources. This model will be extended by adding more capabilities and their parameters, i.e. extending the capability catalogue.
creator
Eeva Järvenpää
contributor
Eeva Järvenpää
Niko Siltala
Otto Hylli
date
2018-03-18
rights
This work is licensed under the Creative Commons Attribution-ShareAlike 4.0 International License (CC BY-SA 4.0). To view a copy of this license, visit http://creativecommons.org/licenses/by-sa/4.0/
language
en
Other visualisation
WebVOWL Source
Export entity
Turtle RDF/XML JSON-LD N-Triples

finger gripper function
c

IRI: https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction

comment
Capability of a finger gripper without the fingers. Note! It has been decided in ReCaM that the finger gripper is described as one unit, including the fingers. Therefore, this capability is not used in ReCaM.
is disjoint with
pick and placec,
drillingc,
millingc,
pickingc,
pressingc,
screwingc,
transport feedingc,
tray feedingc,
tube feedingc,
milling tool functionc,
transportingc,
vacuum graspingc,
finger graspingc,
moving collaborativec,
moving toolc,
drill bit functionc,
finger functionc,
fixturingc,
force applyingc,
holding by gravityc,
milling cutter functionc,
movingc,
orienting mechanicalc,
part storing in trayc,
part storing in tubec,
positioning mechanicalc,
press tool functionc,
releasingc,
screwing head functionc,
spinning toolc,
tool holdingc,
tray holdingc,
tube feeder base functionc,
vacuum cup functionc,
vacuum gripper functionc
is sub class of
gripper typedp
exactly 1
thingc
payloaddp
exactly 1
thingc
grasping force mindp
exactly 1
thingc
grasping force maxdp
exactly 1
thingc
finger closing time mindp
exactly 1
thingc
repeatabilitydp
exactly 1
thingc
position controldp
exactly 1
thingc
stroke per finger maxdp
exactly 1
thingc
force controldp
exactly 1
thingc
finger opening time mindp
exactly 1
thingc
finger numberdp
exactly 1
thingc
simple capabilityc

@prefix : <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#> .
@prefix owl: <http://www.w3.org/2002/07/owl#> .
@prefix rdfs: <http://www.w3.org/2000/01/rdf-schema#> .
@prefix xsd: <http://www.w3.org/2001/XMLSchema#> .

<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> {
    :FingerGripperFunction a owl:Class ;
        rdfs:comment """Capability of a finger gripper without the fingers.
Note! It has been decided in ReCaM that the finger gripper is described as one unit, including the fingers. Therefore, this capability is not used in ReCaM."""^^xsd:string ;
        rdfs:subClassOf _:n7f98d9fe42d84103a7add8eceb99daadb498,
            _:n7f98d9fe42d84103a7add8eceb99daadb499,
            _:n7f98d9fe42d84103a7add8eceb99daadb500,
            _:n7f98d9fe42d84103a7add8eceb99daadb501,
            _:n7f98d9fe42d84103a7add8eceb99daadb502,
            _:n7f98d9fe42d84103a7add8eceb99daadb503,
            _:n7f98d9fe42d84103a7add8eceb99daadb504,
            _:n7f98d9fe42d84103a7add8eceb99daadb505,
            _:n7f98d9fe42d84103a7add8eceb99daadb506,
            _:n7f98d9fe42d84103a7add8eceb99daadb507,
            _:n7f98d9fe42d84103a7add8eceb99daadb508,
            :SimpleCapability ;
        owl:disjointWith :DrillBitFunction,
            :Drilling,
            :FingerFunction,
            :FingerGrasping,
            :Fixturing,
            :ForceApplying,
            :HoldingByGravity,
            :Milling,
            :MillingCutterFunction,
            :MillingToolFunction,
            :Moving,
            :OrientingMechanical,
            :PartStoringInTray,
            :PartStoringInTube,
            :Picking,
            :PositioningMechanical,
            :PressToolFunction,
            :Pressing,
            :Releasing,
            :Screwing,
            :ScrewingHeadFunction,
            :SpinningTool,
            :ToolHolding,
            :TransportFeeding,
            :Transporting,
            :TrayFeeding,
            :TrayHolding,
            :TubeFeederBaseFunction,
            :TubeFeeding,
            :VacuumCupFunction,
            :VacuumGrasping,
            :VacuumGripperFunction .

    _:n7f98d9fe42d84103a7add8eceb99daadb498 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :gripperType .

    _:n7f98d9fe42d84103a7add8eceb99daadb499 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :payload .

    _:n7f98d9fe42d84103a7add8eceb99daadb500 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :graspingForce_min .

    _:n7f98d9fe42d84103a7add8eceb99daadb501 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :graspingForce_max .

    _:n7f98d9fe42d84103a7add8eceb99daadb502 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :fingerClosingTime_min .

    _:n7f98d9fe42d84103a7add8eceb99daadb503 a owl:Restriction ;
        owl:cardinality "1"^^xsd:nonNegativeInteger ;
        owl:onProperty :repeatability .

    _:n7f98d9fe42d84103a7add8eceb99daadb504 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :positionControl .

    _:n7f98d9fe42d84103a7add8eceb99daadb505 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :strokePerFinger_max .

    _:n7f98d9fe42d84103a7add8eceb99daadb506 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :forceControl .

    _:n7f98d9fe42d84103a7add8eceb99daadb507 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :fingerOpeningTime_min .

    _:n7f98d9fe42d84103a7add8eceb99daadb508 a owl:Restriction ;
        owl:cardinality "1"^^xsd:int ;
        owl:onProperty :fingerNumber .
}


[
  {
    "@graph": [
      {
        "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction",
        "@type": [
          "http://www.w3.org/2002/07/owl#Class"
        ],
        "http://www.w3.org/2000/01/rdf-schema#comment": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#string",
            "@value": "Capability of a finger gripper without the fingers.\nNote! It has been decided in ReCaM that the finger gripper is described as one unit, including the fingers. Therefore, this capability is not used in ReCaM."
          }
        ],
        "http://www.w3.org/2000/01/rdf-schema#subClassOf": [
          {
            "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb505"
          },
          {
            "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb504"
          },
          {
            "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb498"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SimpleCapability"
          },
          {
            "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb508"
          },
          {
            "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb507"
          },
          {
            "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb506"
          },
          {
            "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb502"
          },
          {
            "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb501"
          },
          {
            "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb500"
          },
          {
            "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb499"
          },
          {
            "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb503"
          }
        ],
        "http://www.w3.org/2002/07/owl#disjointWith": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PositioningMechanical"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingCutterFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayHolding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Drilling"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PressToolFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTube"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ScrewingHeadFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceApplying"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Fixturing"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction"
          },
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrientingMechanical"
          }
        ]
      },
      {
        "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb505",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#strokePerFinger_max"
          }
        ]
      },
      {
        "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb504",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#positionControl"
          }
        ]
      },
      {
        "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb498",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#gripperType"
          }
        ]
      },
      {
        "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb508",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerNumber"
          }
        ]
      },
      {
        "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb507",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerOpeningTime_min"
          }
        ]
      },
      {
        "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb506",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#forceControl"
          }
        ]
      },
      {
        "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb502",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerClosingTime_min"
          }
        ]
      },
      {
        "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb501",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingForce_max"
          }
        ]
      },
      {
        "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb500",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#int",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingForce_min"
          }
        ]
      },
      {
        "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb499",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload"
          }
        ]
      },
      {
        "@id": "_:n7f98d9fe42d84103a7add8eceb99daadb503",
        "@type": [
          "http://www.w3.org/2002/07/owl#Restriction"
        ],
        "http://www.w3.org/2002/07/owl#cardinality": [
          {
            "@type": "http://www.w3.org/2001/XMLSchema#nonNegativeInteger",
            "@value": "1"
          }
        ],
        "http://www.w3.org/2002/07/owl#onProperty": [
          {
            "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#repeatability"
          }
        ]
      }
    ],
    "@id": "https://resourcedescription.rd.tuni.fi/ontology/capabilityModel"
  }
]
_:n7f98d9fe42d84103a7add8eceb99daadb502 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb507 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n7f98d9fe42d84103a7add8eceb99daadb505 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n7f98d9fe42d84103a7add8eceb99daadb504 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PositioningMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Transporting> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb498 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb501 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#HoldingByGravity> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb508 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb502 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb503 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb501 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGrasping> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n7f98d9fe42d84103a7add8eceb99daadb498 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumGripperFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb508 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerNumber> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#MillingCutterFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb506 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#forceControl> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SimpleCapability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#DrillBitFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayHolding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TransportFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Releasing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Drilling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#VacuumCupFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Moving> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeederBaseFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb507 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerOpeningTime_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Picking> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n7f98d9fe42d84103a7add8eceb99daadb508 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb498 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#gripperType> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n7f98d9fe42d84103a7add8eceb99daadb507 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n7f98d9fe42d84103a7add8eceb99daadb506 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb503 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#repeatability> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb499 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#payload> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Screwing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Milling> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb504 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb507 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n7f98d9fe42d84103a7add8eceb99daadb502 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Class> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTray> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb505 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb504 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb506 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PressToolFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ToolHolding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb502 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#fingerClosingTime_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#SpinningTool> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n7f98d9fe42d84103a7add8eceb99daadb501 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#PartStoringInTube> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb499 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ScrewingHeadFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb505 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n7f98d9fe42d84103a7add8eceb99daadb500 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Pressing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb506 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb508 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb500 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#ForceApplying> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TrayFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#TubeFeeding> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb501 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingForce_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb500 <http://www.w3.org/1999/02/22-rdf-syntax-ns#type> <http://www.w3.org/2002/07/owl#Restriction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n7f98d9fe42d84103a7add8eceb99daadb499 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#comment> "Capability of a finger gripper without the fingers.\nNote! It has been decided in ReCaM that the finger gripper is described as one unit, including the fingers. Therefore, this capability is not used in ReCaM."^^<http://www.w3.org/2001/XMLSchema#string> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#Fixturing> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb500 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#graspingForce_min> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerFunction> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb504 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#positionControl> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2000/01/rdf-schema#subClassOf> _:n7f98d9fe42d84103a7add8eceb99daadb503 <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb499 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb503 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#nonNegativeInteger> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb505 <http://www.w3.org/2002/07/owl#onProperty> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#strokePerFinger_max> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
<https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#FingerGripperFunction> <http://www.w3.org/2002/07/owl#disjointWith> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel#OrientingMechanical> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
_:n7f98d9fe42d84103a7add8eceb99daadb498 <http://www.w3.org/2002/07/owl#cardinality> "1"^^<http://www.w3.org/2001/XMLSchema#int> <https://resourcedescription.rd.tuni.fi/ontology/capabilityModel> .
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