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
136
questions
0
votes
0
answers
8
views
How can I accurately calculate the robot configuration for a desired cartesian position, given manfuacturing discrepancies?
This is a question I have wrestled with for a while now and would appreciate any advice. I am writing an application which allows programming of different 6DOF industrial robotic arms. The output of ...
- 1
0
votes
1
answer
15
views
Mapping servo motor angles to 3d link angles
I have been programming for a 6DOF robot arm with forward and inverse kinematics functionality. The problem I am facing in my head is to how to correctly set different servo motor values to specific ...
- 3
0
votes
2
answers
62
views
Competitions for show innovations and gain visibility
I'm looking for robotics competitions suitable for companies that desire show their innovations and gain visibility. I know about DARPA Robotics Challenge and RoboCup, but I'd love suggestions for ...
- 83
0
votes
1
answer
310
views
From euler angles to rotation matrix and vice versa
I want to check if I am using the correct functions to transform from euler angles to rotation matrix and viceversa. I am using XY’Z” convention of euler intrinsic angles.
As example, I have the ...
1
vote
1
answer
66
views
Move gantry system to detected position in image plane
I have the following simplified gantry system (cartesian robot) that can move in the x axis direction:
My goal is to position the red pointer on top of the target (i.e., I want the real world x-...
0
votes
1
answer
90
views
From Euler angles to Rotation matrix Staubli
I want to know the transformation matrix between End effector and Robot base (FK). Staubli gives me x,y,z and Rx,Ry,Rz. Those three Rotations are Euler angles? How could I transform those Euler angles ...
0
votes
1
answer
65
views
Cannot solve extrinsic matrix between camera and robot
I am triying to calibrate a RGB-D Realsense camera , with an eye in hand configuration. I have the following set-up:
I know the transformation matrix between base/ef and cam/obj. I want to solve ...
0
votes
0
answers
13
views
What components and valves do you need for this pneumatic system of 4 actuators powered by commands and distributed in 2 lines?
I was designing a pneumatic system, fed by a compressor (Tank = 6 liters, Pmax = 8 bar, Motor power = 1.5 HP, Flow = 180 l/min), and consisting of its FRL, some hoses for the ducts 4 mm standard ...
0
votes
0
answers
44
views
Calculating Translation and Rotation in Tool Coordinate System
I have a 6-axis robot that moves from P1(x1,y1,z1,q11,q12,q13,q14) to P2(x2,y2,z2,q21,q22,q23,q24) with tool offset T(x,y,z,q1,q2,q3,q4). I know the base coordinates and orientation of both positions. ...
- 1
1
vote
2
answers
163
views
Is Luenberger observer applicable in practical systems?
I have tried to find out about this from quite a few sources but it still remains unclear to me. I know that the Luenberger observer is applicable for a deterministic system with known control inputs ...
- 111
1
vote
1
answer
60
views
Determine the maximum joint velocities for a PTP-Movement
Assuming an industrial robot performs a PTP movement with a speed of 100% for each joint, it often happens that the joints never reach 100% of speed because the torque limits of the actuators are ...
- 13
0
votes
1
answer
148
views
Trajectory generation for robotic manipulator using trapezoidal velocity profile in MATLAB
I am trying to write code in MATLAB to generate a trajectory for a scara manipulator in the robot operational space with trapezoidal velocity profile for each segment passing through 5 waypoints using ...
0
votes
1
answer
101
views
How do I convert a set of coordinate and rotation values
I'm an electrical engineer who needs to use a robot for their first time. I have a UR5 that I'm controlling through the rtde interface via Python. It seems that what I'm trying to do must be something ...
- 1
3
votes
1
answer
79
views
Articulated Body Algorithm with gear ratio
I am reading up on the proposed articulated body algorithm by Featherstone, which goes like:
Pass 1:
\begin{equation}
\nu_0 = 0\\
\nu_i = {^i}X_{\lambda(i)}\nu_{\lambda(i)}+s_i\dot{q}_i\\
c_i = \nu_i \...
- 53
1
vote
1
answer
48
views
What could be the unit ( dimension) of the vectors spanning the Jacobian matrix?
Let the general forward rate kinematics equation for a serial mechanism be given as follows:
$$ \begin{bmatrix} \boldsymbol{v} \\ \boldsymbol{\omega} \end{bmatrix} = \begin{bmatrix} \boldsymbol{J}...
- 11
1
vote
1
answer
63
views
Denso 6DOF Industrial Robot Flip vs NonFlip
Hello my fellow roboticists!
I am working on the forward kinematics of the Denso 6DOF vs087 line of serial robots. In their Users' Manual, they categorize the set of joint configurations by three ...
0
votes
1
answer
774
views
What is the meaning of joint space and configuration space and task space?
I'm reading an article about teleoperation systems and it talks about three spaces that include joint space, configuration space and task space frames. I do not know what these are, can you explain?
0
votes
1
answer
50
views
Does torque affect prismatic joints in a gantry robot? If so, how can we reduce this?
I was posed a question based on my project on a gantry robot, "Cancelling torques that affect the prismatic joints can help us choose components with a lower cost which increases the cost-...
- 3
1
vote
1
answer
50
views
Val3: Reading an Excel spreadsheet
I want to create a pPoint in Val3, which creates an array with the coordinates. The coordinates to be approached are in an Excel table. Is it possible to read this table using a command with Val3 and ...
- 11
1
vote
1
answer
73
views
Training Multiple Robots for different tasks at the same time using Deep Reinforcement Learning
I'm wondering if a single agent can train multiple robots to perform different tasks simultaneously. If possible, can you please recommend me some research papers and implementations that I can take a ...
1
vote
1
answer
85
views
Extract the potential energy from the gravity vector
I have a recursive Newton Euler algorithm from which I can compute the gravity vector.
My question is, which is the better way to compute the potential energy?
I know the following relation between ...
- 11
0
votes
0
answers
73
views
How to find workspace of parallel manipulator by monte carlo method?
I am working on a 3 DOF parallel manipulator, I was successful in solving the inverse kinematics and forward kinematics of my manipulator. But I am facing a problem in generating a workspace for it.
I ...
- 1
0
votes
1
answer
73
views
Robot performing soldering functions using Soldering iron
Is it possible to design and construct a Robot which can solder components using a Soldering iron on printed circuit boards?
If No, What are the limitations?
- 103
-2
votes
1
answer
127
views
cpp:585:1: warning: no return statement in function returning non-void [-Wreturn-type]
I am using this Repo
when building the projects I am getting this error
Ros - noetic
...
1
vote
1
answer
38
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 ...
- 113
0
votes
1
answer
282
views
Epson RC+ line numbers
I am programming an EPSON SCARA robot using RC+ 7.4.8. Any error in compiling the program shows in red in the bottom status bar with the error message, program and line number.
This would be wonderful ...
- 113
1
vote
1
answer
80
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 ...
- 169
0
votes
1
answer
50
views
I need to make something that can slam something into something else really fast in both directions
I'm fairly new to robotics, but I have this idea for a machine. I've done a bit of research but can't find exactly what I'm looking for. I need something that can either move back and forth at at ...
- 21
1
vote
3
answers
91
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 ...
- 123
1
vote
2
answers
677
views
Is there a way to send commands to the Staubli CS9 from remote system via TCP/IP??(like ur_rtde, urx libraries for UR robots)
I am new to ROS development and Staubli robots. Though i have some prior knowledge on UR5e, I am finding it hard to understand the architecture of Staubli and its other programming interfaces (like ...
- 13
2
votes
1
answer
78
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).
...
- 125
1
vote
1
answer
48
views
Autonomous harvesting robots. What are model possible components and interactions for the entire system? [closed]
I found a video which talk about best autonomous robots that use IA technology to harvest crops. The video is very interesting because, the “ecosystem” of each robot varies a lot from company to ...
- 11
1
vote
2
answers
223
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 ...
- 23
1
vote
1
answer
101
views
How to develop Teach pandent for robotic arm
I am working in the development of 5 DOF robotic arm, The Controller will be consisted of 5 Serad Intelligent Servo Motion control drives, and I am working for HMI development currently, The Teach ...
1
vote
0
answers
67
views
Is there any RAPID instruction to save image as variable in YuMi integrated vision without using RobotStudio?
I want to perceive the images from the cameras embedded in YuMi IRB 14000 arms and store them as videos, in Ubuntu without using ABB RobotStudio.
is there any way to do that? if yes how can I do that ...
- 142
0
votes
1
answer
411
views
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 ...
0
votes
1
answer
575
views
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/...
- 61
0
votes
1
answer
41
views
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 - ...
- 359
0
votes
0
answers
134
views
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-...
1
vote
1
answer
663
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 ...
- 21
1
vote
1
answer
256
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 ...
- 21
0
votes
1
answer
39
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 ...
- 324
0
votes
1
answer
243
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 ...
- 17
1
vote
0
answers
487
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 ...
- 344
0
votes
1
answer
155
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 ...
- 17
4
votes
2
answers
329
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 ...
- 41
1
vote
2
answers
588
views
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 ...
- 11
0
votes
0
answers
42
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 ...
- 3
0
votes
3
answers
249
views
ABB RAPID - calculating seam length
I have an Arc welding RAPID program with many seams. One of them looks like this:
...
- 111
0
votes
1
answer
144
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 ...
