Solid interface - contact between a gripper and an object

I am trying to model a SCARA robot, a pick-and-place robotic arm. I have no clue or idea about how to let the gripper pick an object and then, after a given trajectory, place it somewhere else. What is missing is the solid contact between the gripper and the object to place. How can i solve it in the easiest way possible?

Thank you in advance for your help.

MDM

Answer 1

[Priyanka Rai]

You might want to refer this file exchange:

SCARA Manipulator - File Exchange - MATLAB Central (mathworks.com)

The overall goal here is to catch anything from specified position, follow the specific path till reach the destination, and keep it free on the final position.

You can also refer to functions mentioned in this file exchange, to define the initial position and final position, the robot will follow the path between these two points.

SCARA with Path trajectory - File Exchange - MATLAB Central (mathworks.com)

[Marco Di Muro]

Thank you for your kind message Priyanka, but unfortunately that is not what I am looking for: the main problem is that I am working on project inside Simscape Multibody and I am aware of the fact that in the Simscape Multibody Library has been implemented a solid block named "spatial contact force". It should be the one able to solve my problem but it does not work the way I wished. Thanks again for your support.