Grab object with robotic grip
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?
Asked by JuanTelo on 2018-02-21 05:01:46 UTC
Answers
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/14887/object-slips-out-of-gripper-gazebo-7-ur5-robotiq-3-finger/
Asked by longwoo on 2018-02-25 21:30:28 UTC
Comments
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?
Asked by waiyc on 2018-05-28 03:39:39 UTC