How to increase the payload for the KUKA arm with KR210 claw?
https://github.com/udacity/RoboND-Kin...
I am using the above mentioned KUKA arm model to simulate pick and place. We 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?
Not an answer and perhaps not what you are looking for, but have you asked Udacity about this? It is their model so they might be able to help you better/faster/easier.
Additionally: it's considered bad form to ask multiple questions in a single post. ROS Answers is a Q&A forum, which is different from a regular forum, in that there is an optimal
1:1ratio of questions and answers. Your 4 questions are hidden behind the "how to increase payload" title.I thought about it, probably question 4 is not directly related to this, so I will remove it. But others are directly related to this problem. Hence I would prefer to retain it. Any pointers as to how to contact Udacity? In their git link?
You don't need to remove anything, just keep it in mind for next time.
re: contact udacity: yes, posting an issue on their github tracker is probably a good way. Don't expect them to 'jump' on it though.
Thanks for your time and reply. Appreciate it!