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UR5 arm + RG2 gripper + grasping

Posted: 07 Aug 2015, 17:20
by coppelia

Re: UR5 arm + RG2 gripper + grasping

Posted: 04 Mar 2016, 15:25
by Spino
Hello coppelia,

Well done with this simulation, it looks great!
For academic purposes, i am trying to reproduce the same kind of simulation, except that i should use a "redundantRobot" arm instead of the UR5 arm.
I've already tried a few different options to do such thing, but i've encountered a lot of difficulties doing so. So i was wondering if there was any chance that you could share this scene.

When i try to attach a gripper to the redundantRobot like you explained:
"In the case of the redundant robot, there is already a gripper attached and no attachment point. so delete Rectangle4 and redundantRob_link7. Then select your gripper, then the joint redundantRob_joint7 and assemble them. Last, you need to attach the dummy redundantRob_tip to BarrettHand."

There remain the following problems:
-Clearance between the robot and the gripper.
-The Hand_attachPoint(force sensor) isn't dynamically enabled.

Re: UR5 arm + RG2 gripper + grasping

Posted: 07 Mar 2016, 09:51
by coppelia

the scene you are referring to is located in scenes/ur5WithRg2Grasping.ttt.
Then, make sure you carefully read this page, that explains a lot about the dynamic aspect of a simulation.