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ur5 robot wrist splits with collision


We are working with an UR5 robot and gazebo 7.0.

We move the robot with a ps3 joy. When there is a collision between the robot and for example a table, the wrist3 splits from the previous joint. We would like to avoid this effect. We played around with the effort values, friction and damping without success.

We would like to grasp an objetct using the vacuum gripper, but at the very moment when the wrist contacts with the object the last joint of the arm (wrist3) splits.

Find attached two pictures, one before the collision and the other with the table collision. Any suggestions?

Thanks in advance,

C:\fakepath\ur5_before_collision.png C:\fakepath\ur5_collision_table.png