How to lock gripper joints?
Posted: 16 Jan 2019, 05:29
Hi,
I am having a small issue with the Robotiq85 gripper: when the whole gripper is moving, the trailing gripper pad seems to be subject to some kind of inertia or drag effect.
In the above picture the gripper is moving to the left, causing the right pad to trail behind.
The pic is also available at https://www.dropbox.com/s/hakji7t9xsvpo ... _loose.png.
I first tried setting
in the gripper's sysCall_init(), followed by zeroing the target velocities of j1/j2 a few seconds after the gripper shut on the nut. I also followed the suggestion provided in viewtopic.php?t=2567, but neither seems to work.
Somehow even supposedly locking all the joints within the gripper structure doesn't remedy this issue.
Any help would be appreciated.
Thanks!
I am having a small issue with the Robotiq85 gripper: when the whole gripper is moving, the trailing gripper pad seems to be subject to some kind of inertia or drag effect.
In the above picture the gripper is moving to the left, causing the right pad to trail behind.
The pic is also available at https://www.dropbox.com/s/hakji7t9xsvpo ... _loose.png.
I first tried setting
Code: Select all
sim.setObjectInt32Parameter(j1, sim.jointintparam_velocity_lock,1)
sim.setObjectInt32Parameter(j2, sim.jointintparam_velocity_lock,1)
Somehow even supposedly locking all the joints within the gripper structure doesn't remedy this issue.
Any help would be appreciated.
Thanks!