# 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 difference between a Robot and a Machine?

What is the difference between a Robot and a Machine? At what point does a machine begin to be called a robot? Is it at a certain level of complexity? Is it when it has software etc?. For instance: ...
361 views

### Why are industrial machines called robots?

The definition of a robot is as follow: "A robotic paradigm can be described by the relationship between the three primitives of robotics: Sense, Plan, and Act." An example could be the famous "Kuka ...
3k views

### With a 6-axis robot, given end-effector position and range of orientations, how to find optimal joint values

Given a six-axis articulated robot arm holding a tool at its end-effector, if I have a desired tool position and tool orientation, there will be exactly 1 solution to the inverse kinematics equation ...
7k views

### How to make an "invisible line following robot"?

I would like to build a robot which follows a virtual path (Not a visible path like a 'black line on a white surface', etc). I'm just enthusiastic by seeing some sci-fi videos which show robots carry ...
2k views

### Implementing a torque-controlled method on a position-controlled robot

I am working with a position-controlled manipulator. However, I want to implement a torque-controlled method on this robot. Is there any way to convert a torque command to a position command? I try ...
648 views

### Is there a way to determine which degrees of freedom are lost in a robot at a singularity position by looking at the jacobian?

For a 6DoF robot with all revolute joints the Jacobian is given by:  \mathbf{J} = \begin{bmatrix} \hat{z_0} \times (\vec{o_6}-\vec{o_0}) & \ldots & \hat{z_5} \times (\vec{o_6}-\vec{o_5})\\ \...
4k views

### Technology behind Kiva Systems mobile robots

What kind of sensors and algorithms are the mobile robots of Kiva Systems equipped with?
2k views

### restricting range of motion with complex constraints

I am looking for a way to restrict a robot's range of motion, using complex constraints such as not tearing of a cable attached to the robot. Take an articulated 6-axis robot arm as shown below, with ...
4k views

### 12V compressor and air pressure control

I am trying to make a simple robot with few functionality for someone, one of these functionality is inflating a balloon inside the robot, I know how to control a compressor using Arduino but the ...
91 views

### 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 ...
1k views

### Kuka KR16L-2 robot simulation base and wrist rotation inconsistent with original robot

The issue is regarding simulation of Kuka robot KR16L6-2 in MATLAB using Robotics toolkit by Peter Corke. I wish to simulate the kinematic before passing a command to real robot for motion. I have ...
289 views

### How can I simulate a changing environment with non-rigid objects?

Many robot applications (actually - the most practical and appealing ones) include the robot's reaction to (and impact on) the evironment, e.g. due to stochastic nature of the environment (e.g. when ...
4k views

### What is the difference between a CNC router versus a CNC mill?

People at the RepRap 3d-printing project often mention CNC routers or CNC mills. Both kinds of machines almost always have a motorized spindle with stepper motors to move the spindle in the X, Y, and ...
2k views

### Definition of payload for industrial robots

I'm currently looking for an industrial robot for a depalletizing application. I had a look at some datasheets but I'm not quite sure how the maximum payload is defined. e.g. the Kuka Agilus weighs ...
4k views

### How to implement PID control for robotic arm?

I'm wondering that, PID control is a linear control technique and the robot manipulator is a nonlinear system, so how it is possible to apply PID control, in this case. I found a paper named: PID ...
430 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 ...
332 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 ...
203 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: ...
95 views

### Reference request: Path accuracy algorithm in the joint angle space

I am currently reviewing a path accuracy algorithm. The measured data are points in the 7 dimensional joint space (the robot under test is a 7 axes Robot, but this is not of importance for the ...
366 views

### Weave Weld Lincoln Electric Mig Robot

This is a simple question that I can't seem to find the answer for but when setting up the weave function how exactly does frequency (Hz) determine how fast it moves back and forth? In other words ...
269 views

### I am an entrepreneur and I want to start building robots for businesses, where do I start? [closed]

Over the last couple of years I've had good success with my technology startups and now looking to enter into robotics. I was interested in robotics and automation ever since I was a kid (yes, that ...
35 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 ...
940 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 ...
809 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 ...
369 views

### Implementing an analytic version of an inverse kinematic

People have recommended me implement an analytic version of inverse Jacobian solver, such that I won't be forced only the least square solution, but would have an local area of solution near to the ...
955 views

### Denavit-Hartenberg convention or the product of exponentials formulation, when dealing with the manipulator kinematics?

Though, Denavit-Hartenberg notation is commonly used to describe the kinematics of robot manipulator, some researcher prefer the product of exponential instead; and even the claim that it's better. ...
906 views

### How are huge industrial robots powered?

Take a look at this monster lifting a car. Now I don't think one can get that power by plugging into a wall outlet. So how are these huge robots (their servos) powered? Gasoline? How is power stored, ...
218 views

### How do I select the best configuration for a known workspace, load and task?

Given workspace constraints, load and task to be done, how do I select the best configuration of my robot? How do I select between a cartesian or Scara robot for instance? How do I select a ...
184 views

### Linear actuators in a cartesian robots

I would like to make a Cartesian robot with maximum speed of up to $1ms^{-1}$ in x/y plane, acceleration $2ms^{-2}$ and accuracy at least 0.1mm. Expected loads: 3kg on Y axis, 4kg on X axis. Expected ...
55 views

### May I get this robot arm to be controlled via drawing, not programming?

I got an Omron Viper 850 robot arm with a spindle mounted with a cutter. It is controlled via EV+ programming (EV+ is a programming language used in the ACE Adept Omron software to move the robot). ...
261 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 ...
922 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 ...
185 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 ...
85 views

### 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 ...
52 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 ...
370 views

### How to calibrate an industrial Robot?

I am testing an industrial robot (ABB IRB 1410) using three simple Micron Dial gauges to get x,y,z values at particular point by varying Speed, Load and distance from home position. My questions are, ...
201 views

### Why are the IRB 1410's servos running even when the joints are not moving?

I was jogging the ABB IRB1410 and I noticed that the servo motors are humming even when the joints are not moving. The motor cuts off only when the guard switch in the flex pendant is released. What ...
510 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 ...
340 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 ...
241 views

### The costs of using existing 6 axis kuka/abb robots and existing vision systems in picking and placing tasks

I would like to use a Kuka/abb 6 axis robot and a machine vision system to pick and place a variety of metal drill bits in size ranges from 0.5mm (ascending up 0.5mm per cylinde) to 13mm in metric and ...
198 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 ...
76 views

### Do you have to stop a programmable logic controller to update its logic?

Must the operation of a PLC (programmable logic controller) be halted while its logic is being changed or can new logic be downloaded to it during runtime, without memory loss, giving a seamless ...
2k views

### What is the best software/package to draw the robot manipulator and indicate DH parameters and different axes?

I'm wondering about good software/package to draw the robot manipulator and indicate DH parameters and different axes? Any suggestions!
61 views

### Best way to control a robot from an application

I developed an application that places itself just before controlling the robot (CAD/CAM like application) and now I want to control my robot directly within the application. Typically I have two ...
538 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), ...
15 views

### Line Breaks EPSON RC+

Maybe this question belongs on StackOverflow, but it's a robotics software specific question so I wasn't sure. Is there any way to cut a super long line in two in EPSON RC+ 7.4.8? The SPEL + syntax is ...
34 views

### Why is a joint space trajectory unable to deal with operational space obstacles?

I have found several sources that state that a Joint space trajectory model is not capable of dealing with obstacles in the manipulator workspace. These sources include: slide 10 of "Manipulator ...
82 views

### How do industrial robots solve the inverse kinematic problem?

I want to make a real-time end-effector position control simulation of a 6 DOF robotic arm. To do so, I should solve the inverse kinematic problem, but due to the complexity of calculations, it is ...