How can I stiffen parts of my robot?

[TobiasW]

Hey there,

I have a problem with my simulation and I hope, you can help me.
I use a LBR4p with a RG2 gripper for grasping. However, the gripper is not very stiff in case of a collision:


Is there a way to stiffen the gripper?

[coppelia]

Hello,

this is also directly linked to the mass and inertia of all your robot/gripper links. So you could try to balance out all involved masses and inertias (which would not be very realistic), or you can try with a different physics engine. Vortex is probably the better choice for that type of application.

Cheers

[TobiasW]

Hez coppelia,

thanks for your reply. I will test this, thanks a lot