I am using the KUKA arm model in this github link to simulate pick and place. I noticed that KUKA arm would not pick objects heavier than 2.5 kg in Gazebo simulation. We are not sure if this is a simulation limitation or limitation of the gripper (KR210 claw). I are not from robotics background, so pardon my naivete.
Approaches tried to get it to lift heavier payload, but failed with all of them.
Tried scaling the gripper to double the size and also increased the mass of gripper model
Tried removing the velocity limits from joint-limits.yaml
Tried to scale down the velocity using scaling factor to check if it can carry more weight
Tried increasing the friction coefficient of the target object (it is a cylinder)
Some of the messages when I tried the above approaches from MoveIt! are: - Gripper controller failed GOAL TOLERANCE LIMIT violated - Assuming lower bounds for Gripper controller
A few questions,
How does MoveIt! decide whether the object can be picked or not?
Where can we find the specifications of KR210 claw? If we can get KUKA arm to carry heavier payload in simulation, where do we do that parameter tweaking?
Are there any other KUKA arm compatible grippers with DAE/STL files available, which has a higher payload capability? Could you please point me to those links?
Hello,
I am using the KUKA arm model in this github link to simulate pick and place. I noticed that KUKA arm would not pick objects heavier than 2.5 kg in Gazebo simulation. We are not sure if this is a simulation limitation or limitation of the gripper (KR210 claw). I are not from robotics background, so pardon my naivete.
Approaches tried to get it to lift heavier payload, but failed with all of them.
Tried scaling the gripper to double the size and also increased the mass of gripper model Tried removing the velocity limits from joint-limits.yaml Tried to scale down the velocity using scaling factor to check if it can carry more weight Tried increasing the friction coefficient of the target object (it is a cylinder) Some of the messages when I tried the above approaches from MoveIt! are: - Gripper controller failed GOAL TOLERANCE LIMIT violated - Assuming lower bounds for Gripper controller
A few questions,
How does MoveIt! decide whether the object can be picked or not?
Where can we find the specifications of KR210 claw? If we can get KUKA arm to carry heavier payload in simulation, where do we do that parameter tweaking?
Are there any other KUKA arm compatible grippers with DAE/STL files available, which has a higher payload capability? Could you please point me to those links?
The same question can be found here as well, https://answers.ros.org/question/294326/how-to-increase-the-payload-for-the-kuka-arm-with-kr210-claw/