System for controlling robotic end effectors

An adapter mechanism for coupling a robotic arm and an end effector, comprising:

• a robotic-arm part and an effector part configured to be mutually seated against each other, wherein the robotic-arm part is operable to connect with the robotic arm and the effector part is operable to connect with the end effector;
• a first part among the robotic-arm part and the effector part comprises wedged undercuts;
• a second part among the robotic-arm part and effector part, different from the first part, comprises spring-loaded members with wedged surfaces protruding from sides of the spring-loaded member;
• and
• the adapter mechanism is further configured for connecting the first part and second part by:
• compressing the spring-loaded members;
• seating the first part against the second part;
• and
• releasing the spring-loaded members, causing the wedged surfaces to grasp the wedged undercuts, whereby the wedged surfaces and wedged undercuts meet at substantially equal and opposite wedge angles;
• wherein the spring-loaded members extend outside of the second part at opposite extremities, thereby enabling compression of the spring-loaded members by at least one of manually or the second part being passed between external wedged constrictions.