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Movement of smaller links affecting the whole body

asked 2017-12-14 04:51:25 -0500

Fiddle gravatar image

Hi, I've solved the problem of removing the gravity from the gripper model, but now I have another problem. When I try to move the grippers claws, whole body starts to move, even if it's not specified at the joint. How can I modify the base link, so it stays rigid while the claws open and close, and also, I need the possibility to move it up and down (and possibly, rotate it)? The models code is in the link above. Here is the behavior that I want to get rid of:

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answered 2017-12-14 11:06:45 -0500

chapulina gravatar image

updated 2017-12-14 11:08:35 -0500

Glad to hear you got the gravity to work, and as I mentioned on the other question, the movement of the other links was expected, now you're basically operating in space ;)

Since you need the gripper itself to move, a fixed joint as previously suggested won't be appropriate for you. What I suggest now is that you add a joint for each degree of freedom which you wish to control. So if you need the arm to move up and down, create a prismatic joint with the world. To allow rotation, add a dummy link and then a revolute joint.

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Setting prismatic joint with the world did work, although when I added the dummy link, the behavior returned, but then I've set the inertia of the dummy link to a high value and it seems that fixed the problem.

Fiddle gravatar imageFiddle ( 2017-12-15 08:17:21 -0500 )edit
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Asked: 2017-12-14 04:51:25 -0500

Seen: 173 times

Last updated: Dec 14 '17