Grasping Force and Friction Adjustment

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zhy149
Posts: 132
Joined: 14 Apr 2021, 20:18

Grasping Force and Friction Adjustment

Post by zhy149 »

Hello, when I'm grasping some objects such as cylinder with a parallel jaw gripper but the grasping doesn't seem very stable, how should I deal with changing the grasping force threshold and friction stuff if you could provide me some hints and examples? Thank you!

coppelia
Site Admin
Posts: 10312
Joined: 14 Dec 2012, 00:25

Re: Grasping Force and Friction Adjustment

Post by coppelia »

Hello,

how you can improve grasping despends a lot on the physics engine you are using, and their specific settings in the material section. But before that, make sure to adjust a force/torque that is realistic, and follow the design considerations 7&8.

Additionally, have a look how the other 2-finger grippers are implemented in CoppeliaSim: instead of having two independent fingers that each operate in velocity or torque/force mode, use one master joint in that mode, and another one in position mode (for centering purpose), e.g. instead of:

Code: Select all

gripper --> finger1Joint --> finger1
        --> finger2Joint --> finger2
do:

Code: Select all

gripper --> centerJoint --> finger1 --> openCloseJoint --> finger2
Above two situations are similar to holding one chopstick in each hand, VS holding the two chopsticks in one and the same hand.

Cheers

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