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Grab object with robotic grip

asked 2018-02-21 04:01:46 -0600

JuanTelo gravatar image

Hi, currently I'm doing a project in which I can control the movement of a robotic arm, the ur10, with a gripper and I want to be able to grab an object. However when the gripper closes to grab the object it just slips out of the hand. What should I do to make it stay "grabbed" by the grip?

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Hi, I am currently facing the same issue. The target object will squeeze out from the gripper when the gripper is fully close. is there any method to close the gripper based on the target object width?

waiyc gravatar imagewaiyc ( 2018-05-28 03:39:39 -0600 )edit

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answered 2018-02-25 20:30:28 -0600

longwoo gravatar image

updated 2018-02-25 20:40:28 -0600

Try to find a good param in <gazebo> attribute. Such as

  • mu1
  • mu2
  • fdir1
  • kp
  • kd
  • maxVel
  • minDepth
  • maxContacts

Or change the param in <world>, refer to http://answers.gazebosim.org/question...

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Asked: 2018-02-21 04:01:46 -0600

Seen: 188 times

Last updated: Feb 25