- Solver Selection: Fixed-step
- Solver: ode8 (Dormand-Prince)
- Fixed-step size: 0.001
How to simulate grabbing an object on Simscape Multibody?
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Ahmed Salaheldin Ahmed Farouk Salaheldin 2023 年 5 月 2 日
I have been trying to simulate a process on Simscape Multibody, where a robot arm picks up an object and drops it in a box. I am having a problem with the grabbing and cannot get it done. I know I should use the spatial contact force and I have seen a couple of examples but they are very complicated with many subsystems connected to the block and I cannot really understand them. For example, how can I time in the block the moment that the robot arm has reaced the piece and should grab it now? would really appreciate any help.
Nathan Hardenberg 2023 年 5 月 2 日
I made a very simple example for you (see attachment).
In general a "spatial contact force"-block has to be between all bodies that collide. Sometimes it is approximated with points since the simulation time can skyrocket when using contact forces (I have not done this). Thats why you need to set the following options in my example (you can also play around a bit):
In general you have to calculate yourself when to close the gripper. It can be done with a Matlab-script, simply time based or something else. The gripper should also be acuated with a force and not a position. Otherwise the part maybe glitches and flies away.