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Grasping Force and Friction Adjustment
Posted: 25 Jun 2022, 01:51
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!
Re: Grasping Force and Friction Adjustment
Posted: 27 Jun 2022, 06:37
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