Gazebo | Ignition | Community
Ask Your Question

Revision history [back]

Object is slipping from Gripper of Panda Arm

I am working on a pick and place task using the Frankia Panda Arm with Effort Joint Controllers for the Arm Links as well as for the Gripper links.

The issue I am facing is related to the slipping of the object box from the gripper when the robot is picking the object.

Files:


<?xml version='1.0' encoding='utf-8'?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">

<gazebo reference="${ns}_hand">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="${ns}_leftfinger">
   <material>Gazebo/White</material>
  <mu1>1000</mu1>
  <mu2>1000</mu2>
  <kp>1000000.0</kp>
  <kd>100000.0</kd>
  <slip1>0</slip1>
  <slip2>0</slip2>
  <minDepth>0.003</minDepth>
  <maxVel>0</maxVel>
  <torsional>
    <ode>
        <coefficient>1000</coefficient>
        <slip>0</slip>
    </ode>
  </torsional>
 </gazebo>
<gazebo reference="${ns}_rightfinger">
  <material>Gazebo/White</material>
  <mu1>1000</mu1>
  <mu2>1000</mu2>
  <kp>1000000.0</kp>
  <kd>100000.0</kd>
  <slip1>0</slip1>
  <slip2>0</slip2>
  <minDepth>0.003</minDepth>
  <maxVel>0</maxVel>
  <torsional>
    <ode>
        <coefficient>1000</coefficient>
        <slip>0</slip>
    </ode>
 </torsional>
 </gazebo>

<transmission name="${ns}_finger_joint1_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${ns}_finger_joint1">
  <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${ns}_finger_joint1_motor">
  <mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

<transmission name="${ns}_finger_joint2_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${ns}_finger_joint2">
  <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${ns}_finger_joint2_motor">
  <mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>

</robot>

Any suggestion to solve this issue?

Videos: - 1. https://youtu.be/j_oI9l3VXGE 2. https://youtu.be/yjjB0lFknoM