CoppeliaSim forums

Hi,

I am currently modelling a pick and place of a cuboid (using vortex engine), I am currently able to pick it up successfully but i am getting some strange movements in the x and y plane which eventually displaces the cuboid from its grasping position. I am aware that in theory for this not too happen I should be picking it up from its centre of mass but this doesnt solve my problem. Is there something else I should be considering?

Thanks always

Hello,

make sure that your cuboid is not accelerated at a too fast pace, and that it is not too light/heavy. Also, you can try to adjust the force/torque and velocity of the gripper joints. And of course also the friction coefficients of the fingers and the cuboid.
Finally, you can simply temporarily attach the cuboid to the gripper via a force/torque sensor. Maybe you can post a video to illustrate the problem?

Cheers