How to use it with the UR10 robot arm in unity?

[SherryKKKKKKKK]

I put the Robotiq 2F_85 on the linkee of the UR10 robot arm, where the tool head should be, but the gripper failed to rotate with the arm, it just stayed horizontal. Does anyone know why and how I can put it on the URrobot in Unity and move it with the correct inverse kinematics angle movement?

[rparak]

Hi @SherryKKKKKKKK,

The homogeneous transformation matrix (HTM) of the Robotiq gripper is defined by a unit matrix in the project. However, to utilize the gripper in conjunction with the robot, it is necessary to modify the HTM of the gripper to align with the HTM of the robot's TCP (Tool Center Point).

The position and rotation of the robot's TCP must be determined from the robot parameters in the product manual or from the Denavit-Hartenberg parameters using the Forward Kinematics calculation.

DH Parameters for calculations of kinematics and dynamics

Once the position and rotation of the end-effector have been aligned with the robot's TCP, the gripper needs to be attached to the robot's last joint.

I hope everything is clear, if not, please contact me at:
Roman.Parak@outlook.com

Have a great day.