Free moving tool - RobotStudio 2023.4

ErikATM

Hello,

I am currently developing a robot cell for a depalletizing solution. I am planning a tool that can move freely using a ball joint. The center of gravity of the object is shifted by an eccentric handle and thus the tool tilts in one of the four directions. This allows conclusions to be drawn about the orientation of the object. I have already tried to achieve the desired effects with the help of a physical axis and dynamic behavior. This has also worked, but as soon as I have converted the object into a tool, it flies into all its individual parts... Are there any other ways to proceed or is this simply not possible?