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ros-industrial / robotiq

Robotiq packages (http://wiki.ros.org/robotiq)
BSD 2-Clause "Simplified" License
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Robotiq_3f_gripper shakes with the ur10 robot #147

Closed padhupradheep closed 5 years ago

padhupradheep commented 5 years ago

Hey guys,

I'm using ur10 robot and trying to connect Robotiq 3f gripper. The problem is that the gripper vibrates/shakes too much in the gazebo simulation. I tried adding kp, kd, mu1 and mu2 parameters but still the robot is shaking. What should I be doing?

jproberge commented 5 years ago

Hi,

I have the exact same problem as the one you are describing with the 2f gripper. I'm still trying to find a solution about that, I'll write back as soon as I find one. Just to be clear though, is it the robot or the gripper that's vibrating in your case?

padhupradheep commented 5 years ago

Hey,

Thanks for the response !

In my case, gripper is vibrating.

pidipidi commented 5 years ago

I also faced the same issue when I use a UR5. There were two reasons. One is the strict position control of UR5/10 generates vibration in Gazebo. If you use the joint effort control in simulation, you can suppress the physics issue. Another one is there can be self-collision between your gripper and UR10. If you disable it, you can reduce the vibration. You can just disable it in ur.gazebo.xacro.

jproberge commented 5 years ago

@pidipidi this indeed solved the issue on our side! Thanks for your comment!