Attacher picks wrong object

RobotStudio
1

Hi
Im studying roboticsprograming. And i now work on the final assignment, But i have gotton a problem with my system. The problem i got is that, the attacher picks the wrong object.

I have built a series of smart components to, attach and detach the object closest to a gripper. But the problem i have is, that even though the Attachers properties “child value” says “GodkA?nd_stA?ng3” the robot attaches another part, “Bricka_1”

This is basicly how its built up. The ClosestObject checks which object is closest and sends it to the “child” of an attacher. Both of those is triggered by the executing signal from a PoseMover, So when the gripper closes, the attacher should attach the closest object. And when it opens, it should detach the closest object.

Feels like i’ve tried everything. But i cant find a solution. Sometimes it seems to work ok, but next time i try it, it picks the wrong object.

Here i post a video showing my problem. The orange shaft is the one called (GodkA?nd_stA?ng) and the black washer is the one called (Bricka) http://youtu.be/LmVjn5RPTR4

Thanks in advance
-Marcus

2

Hi,I can’t get your youtube link to work, but my recommendation is to use a “line sensor” or a “plane sensor” instead of “closest object”.

3

Hmm weird, it work when i posted it.

Thanks for the tips Anders,
But I got it to work by remaking my SmartComponents, and spent some more time to keep it clean and tidy. I had probably connected something wrong.