Questions tagged [industrial-robot]

An industrial robot is a robot system used for manufacturing. Industrial robots are automated, programmable and capable of movement on two or more axes

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What is the most accurate method to calculate Torque of 5 DOF Robotic arm

I am working for development of a 5 DOF Robotic arm , and I am confused in the Torque calculation This is a 5 Axis revolute Joints Robotic arm , where Motor for 1st axis will rotate the turning table ...
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How to add, additional prismatic joint to the end of Universal robot last joint inside URDF file?

Could you please tell me how can I add, additional prismatic joint to the end 6th joint in URDF file of an Universal robot as in the link below: https://github.com/ros-industrial/universal_robot/blob/...
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What capabilities of industrial robots should be improved to use them for the manufacturing of the telescopic conveyors?

New manufacturing facility of telescopic conveyors has been established one Eastern country of European Union. The managers of the facility are very proud that human workforce is their main asset - ...
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What should be the required operating voltage for Servo motors in my 5 DOF robotic arm, with 50 kg payload

These are the estimated torque values of all axis in our applications 1st Axis- 226.57 oz-in - 478oz-in 2nd Axis- 756 oz-in -1590oz-in 3rd Axis- 356 oz-in - 749.7 oz-in 4th Axis- 188 oz-in - 395 oz-...
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71 views

Multi-Link Robot Degrees of Freedom

I want to compute the DOF of this system if it composed of (n) such links grasping this common object using Grubler's formula obtaining the solution as a function of (n), considering this to be a ...
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1answer
71 views

Compute orientation velocities 6-DOF robot

I am trying to compute the joint velocities a 6-DOF manipulator(a typical industrial robot). I have an initial position [xi, yi, zi, T1i, T2i, T3i] and goal position [xf, yf, zf, T1f, T2f, T3f] in the ...
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35 views

Motion of a mobile platform inaccurate than industrial robot arm

It is known that with a 7DoF industrial you can achieve an accuracy of ~2mm. However, the motion with a mobile platform is known to be more inaccurate and expensive. I can follow why the motion is ...
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105 views

What is my last rotation matrix for the last three angles when i have found the first three when doing inverse kinematics to a 6dof robot?

I am doing inverse kinematics for a 6dof robot. I have used the geometrical method to describe the angles from one to three. I have trouble doing the next part. I know I that I have found the ...
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61 views

Jacobian Derivative (Analytical?)

If I understand this correctly, given the Jacobian Derivative $\dot{J}(q)$ derived using the method presented from the paper by (Rhee, J. Y., & Lee, B., 2017) where the algorithm summarized ...
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53 views

Problems fixing frames to a 6 degrees freedom robot

Hello Robotics Stack Exchange. I am trying to put frames to this robot so I can make forward and inverse kinematics. However, when I use the DH parameters I do not get the same results as roboDK (a ...
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What should be the ideal ratio for link lengths ( L1/ L2) of a 2 link manipuator robot with revolute joints?

I am working on making a CAD model of a two link robotic manipulator, with link lengths around 15-20 cm. I am unable to figure how to set their mutual ratio and I want to know whether there is some ...
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How do I get the matrix for the mass?

Hi im currently studying for an introduction on robotics test and i have this task to calculate the kinetic and potential energy of the robot. The robot is an open chain and has one rotating joint as ...
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33 views

What do I need to know about the dynamics of an industrial robot?

Apart from kinematics, what do i need to know about the dynamics and other things of a robot in order to calculate the angles of the joints for positions of the end effector exactly? that means: if i ...
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69 views

Calculating seam length

I have an Arc welding RAPID program with many seams. One of them looks like this: ...
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32 views

How To Do path planning To move the Robotic Arm in straight line in 3D where the arm is having base, Shoulder, Elbow & wrist? [closed]

Now the design we have has the 4 DOF (Base, Shoulder, Elbow, Wrist), there is no problem in moving the arm in a curved manner but the main problem arises in straight-line motion. I'm unable to fid=nd ...
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Model of two link rigid manipulator

I am working on parameter estimation of a rigid two-link manipulator as shown in the picture below. Unlike the cylindrical links shown in the above image, my robot has links of oval shape. So the ...
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Hardware for Industrial-Grade CNC

I have developed a prototype of a CNC Machine with Arduino and Raspberry Pi for my first client, I now need to use industrial grade components, but I struggle with the hardware, I am confused. I just ...
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Robotic arm servo motor- Not enough torque

I require your help regarding a problem I’m encountering. I am a beginner in robot modelling. I am designing a robotic arm for agricultural use and I am having issues with the motors. I am using ...
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1answer
147 views

Is there any fault in my kinematic diagram?

I was doing forward kinematic test on a 6 D.O.F anthropomorphic robotic manipulator. So I modeled my kinematic diagram by D-H notation. But I am confused. Because I have simplified some terms here. I ...
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59 views

What robotic skills can I develop when working as a robot operator? [closed]

I find myself very interested to work in the field of robotics though my background is not robotics, I had a degree in Physics, master 1 in Hydrodynamics and this year I have studied just one semester ...
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CMA Net - How to export all statistics ? (In Excel/XLS)

On the lower-right of the screen, there is an "Archive" button, from which I go to the dialog box/window where there are Delete, Delete all, Export and Load options, but there is no "Export All" ... ...
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232 views

Number of inverse kinematics closed form solutions for ABB IRB 140

I've read that 6 dof manipulators give eight closed form solutions, according to a paper. What is the number of iK solutions for the ABB IRB 140? (last three axes intersect but there is a offset ...
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148 views

Calculate the inertia matrix of complex robotic mechanism

Motor, irregular rigid body of Different materials Forming a single robotic. For example, Industrial robot, every geometric shape of the link is very complex. But we can find inertia matrix form CAD ...
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1answer
436 views

Position vs Image based visual servoing?

Can anyone explain Image based visual servoing for robotic arm through example? I can understand Position based based visual servoing like this, .... there is an object and estimating it 6D Pose ...
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vision guided robotic arm always required 6d pose of object? [closed]

I have an object like attached in image. It is hanging vertical (its position may change but static object) and I want to grasp it using 6DOF Robotic arm. I am Using camera to detect object. I am ...
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430 views

Gravity compensation

I am just getting curious about this gravity compensation technique. If we could compensate the force generated by the gravity (by feeding in the exact amount of force into the opposite direction), ...
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59 views

How to change endian for multi-byte I/O outputs?

When using the Yaskawa Smart Pendant SDK API (Java client), it is possible to set multi-byte I/O values via: ...
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1answer
25 views

Project suggestions

Thank you for any input in advance! Also I am not totally sure this is the right place for this question. If not then I apologize but couldn't think of a better place to post it. I am working on a ...
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677 views

URScript - how to get the actual TCP pose in tool space coordinate system?

I am writing a simple script for universal robots UR10 robotic arm. I am trying to find a way to to see if the tool current position is outside of a 3D bounding box. the 3D bounding box is defined ...
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498 views

CNC stepper motors are loud and slow after decreasing the steps/mm from 250 to 5

I'm making a drawing robot and have hooked up my steppers to each axis. I'm using the grbl shield with arduino and nema 17 steppers. Initially the firmware was set at 250 steps/mm but with my setup ...
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2answers
61 views

Controlling the robot with joystick values [closed]

I struggling days with this problem : I have joystick values 0~FF for each axis. So the higher this value, the faster the axis moves. I am trying to find a way to control a robot with these values. ...
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358 views

EGM setup. Not possible to open the UdpUc device

I am trying to set up EGM (Externally Guided Motion from ABB) for Position Guidance using C#. But when the code reaches EGMSetupUC it will always give the error: 41824: Not possible to open the ...
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1answer
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Challenges involved in designing an Industrial Robotic Arm [closed]

I was wondering if any robotics engineers around would kindly, provide suggestions on the following: I was recently hired by a company that wants to implement a robotic solution in manufacturing ...
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1answer
276 views

Finding Joint speeds for each joint of a 6DOF arm (UR10) using the Inverse Jacobian

Background: I have access to a UR-10, 6DOF robotic arm through my school (I'm very new to robotics). I know the desired set of linear speeds that I want in the x,y, z-direction in terms of the end ...
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1answer
199 views

Creating linear end effector motion using joint speeds: Converting tool speed to joint speeds

Background Information: I'm new to robotics and my school currently has access to a 6DOF Universal Robot (UR-10). I'm programming it using its scripting language URscript and the arm has these two ...
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1answer
772 views

Solving Inverse Kinematics for ABB IRB 120

I am working on an ABB IRB120 simulation using MATLAB Simulink. I use the decoupling method to solve the inverse kinematic of the robot. However, I have some questions related to the computation of ...
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1answer
38 views

controlling industrial servo with pc

these days I'm learning Orocos patched with xenomai. Although I have found the ways to create a hard real-time control software, I didn't find any information on how I should use this to control the ...
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1answer
666 views

6DOF serial robot (PUMA robot) dynamic model equations

I'm trying to find the most simplified (though accurate) calculations for the dynamic model of a standard 6DOF serial robot (PUMA robot). I found this great paper: https://www-cs.stanford.edu/group/...
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1answer
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how do i select light-weight 6dof robot?

I plan to do some scientific research, after modeling and path planning for the robot, The algorithm outputs the Joint control torque(or Joint variable), and then i want to input this result to the ...
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458 views

How do I model a simple robot arm as a plant?

How do I model a simple robot arm as a plant?. I know how to model motors but, I think, controlling individual motors may not be enough; and in order to control the the arm as a plant I need to model ...
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2answers
749 views

Robot Calibration using DH parameters

I'm new in robotics. My problem is the next one: I have a 6DOF robot manipulator and because the implementation was for real-time application my calculation time had to be really fast so that I used ...
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2answers
160 views

Industrial Controllers - Why not adaptive control and robust control

This is a question I have thinked about under a very long time. What are industrial controllers? From research I found that PID is the most used in the industry. PID controllers are included in ...
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50 views

How do robotics companies track faults in production systems?

Are there any specific tools or practices which robotics companies use in order to keep track of errors in: Sensors/Actuators malfunctioning or returning unexpected results Programming errors or ...
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1answer
267 views

Any open source simulation software which is able to simulate robots and their movements?

I am searching for an open source simulation software which is able to simulate robots and their movements in a factory. I would like to send control signals and receive sensor data back. This ...
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1answer
34 views

What parameters can be/should be looked on while deciding to work with a microcontroller in a bot

I understand that choosing a microcontroller is all based on the needs and that there is no perfect Mcu.presently I have to select an MCU for a robot my team is building for the 2018 Abu robotics ...
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2answers
163 views

Hand eye calibration wrong result

I am trying to do hand eye calibration between the robotic arm end effector and Kinect V1. I am using handeye_calib_camodocal repository for calibration and trying to find $X$ by solving the equation: ...
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376 views

Extended Kalman Filter in robotics - Worth it?

I wonder if Extended Kalman Filter(EKF) is used in robotics, or is only Kalman Filter(KF) used in robotics. Kalman Filter is included in Linear Quadratic Gaussian(LQG) controllers. But how would EKF ...
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71 views

Type of power connector on the new Kawasaki controller

The current Kawasaki robot controllers are equipped with a power connector different than the one on prior controllers (see pictures below). I need to order this type of plug and can not find out the ...
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2answers
249 views

Tool calibration- orientation

I'm currently working on calibration of robot tool. I have found some simple methods to get the tool centre point. But I'm sure how to get the tool orientation wrt the robot's tip (the point where the ...
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85 views

Cheap light fast industrial robot?

Why are there no simple industrial robots (mainly for simpler tasks like pick and place) that are: Cheap (<=3000$), Lightweight (<=10kg), Fast (600mm/s at end effector), Most of the robots I ...