Questions tagged [manipulator]
manipulator is a device used to manipulate materials without direct contact.
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Inverse Kinematics with Orientations
Let's say I have a robot consisting of a base $B$ and a manipulator $M$. The pose of the manipulator can be expressed as the transformation matrix $T_{BM}$. I also have a goal $G$ which I want to move ...
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Controlling the pose of a manipulator using inverse kinematics
I want to control a robotic manipulator in Cartesian space, using inverse kinematics. I know that I can do this using $\omega=J^{-1}v$, where $\omega$ is a vector of joint velocities, $J$ is the ...
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Quaternionic feedback for for cartesian impedance control
I've seen that there are plenty of ways of generating orientation errors with quaternions. But the one I've seen most often is the following:
For example, say that for a quaternion $Q = \{\eta, \...
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SLERP velocity and acceleration (3d Orientation interpolation)
Hey guys I am quite new to quaternions and I am a bit unsure as to how to use them. How are the velocities and accelerations trajectories determined using quaternions?
I have been using slerp to ...
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Cartesian Impedance control Damping Design (Double Diagonalization)
In the literature, it is often seen that for a system:
\begin{align}
\Lambda \ddot{e} + D_d \dot{e} + K_d e = F_{ext}
\end{align}
A dynamic damping matrix is required for a robot to take ...
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1answer
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How do I find the minimum time for computing a trajecotry for a robotic arm?
I am studying robotics and I am focusing on trajectory planning.
I have been struggling with this topic for a while, and I still have some doubts that I cannot solve. One of them is the following:
I ...
2
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1answer
47 views
How do I assign the origin of the frames in the Denavit Hartenberg convention?
I am studying the Denavit Hartenberg and to practice I am using the following manipulator:
I have been able to assign some of the frames almost correctly, but i did some mistakes I cannot understand. ...
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What is the reasoning for solving inverse kinematics problems?
I am a student, and I am studying robotic arm manipulators. I am focusing on the concept of inverse kinematics, I have understood is the process of finding, from the direct kinematics, the joint ...
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DH Notation for Bend End Effector of RRR Articulated Arm
Hello, I want to ask about the DH notation for this RRR Robot with special end effector (See in the picture). I have a problem when writing the DH notation from join 3 to the end effector. the L shape ...
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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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Why applied joint torque will affect another joint?
I want to ask a very simple question.
For the robot dynamics Newton-Euler algorithm, suppose there is a two-link planar robot, we can write the simple dynamic equation form as $M(\theta)\ddot{\theta} ...
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What is canonical grasp?
What is a canonical grasp and how is it different from normal/other grasp? I've searched through internet and forums but haven't found any answers.
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Newton-Euler Inverse Dynamics by Screw
I paste this algorithm from textbook Modern Robotics P294 in chapter 8:
This is coordinate invariance of Newton-Euler equations. In the textbook, they use the ...
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1answer
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Understanding Impedance Control
I have a question regarding impedance control for a robotic manipulator.
Given that we have a task space trajectory:
$\ddot{x}$, $\dot{x}$ and $x$
And the dynamics model of the robot:
$$\tau = M(q)\...
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2answers
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Can workspace of a manipulator change after considering its dynamics?
As per my knowledge, the workspace of a manipulator can be determined if one knows the forward and inverse kinematics. But is it possible that the workspace of the manipulator can change after ...
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Find the kinematic parameters using DH by Craig convention
I am trying to find the kinametic parameters using the J. Craig of the DH parameters for the following 2-DOF robotic manipulator.
where $\ x,y $ are the axes of the reference frame and $\ q_1 , q_2 $...
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What does “resolution of a sensor” mean? [closed]
I am studying robotics and I am focusing my attention on the sensors used on robot manipulators. I have seen that there a proprioceptive sensors, such as encoders, and exteroceptive sensors, such as ...
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Why in trajectory planning in joint space the manipulator never crosses a singularity?
I am studying robotics kinematics and I have studied that if we plan a trajectory in joint space it is impossible for the robot manipulator to cross a singularity during its motion, while in cartesian ...
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How to define the degrees of freedom of a flexible manipulator?
Consider a cable-driven flexible manipulator which has 3 cables. Consider the 3 cables to be actuated by 3 motors. Assume that by pulling the three cables in different configurations, we can span the ...
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2answers
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Problem defining rotation matrix
I am studying robotic kinematics , and given the following manipulator with its D-H frames assigned:
I have to find the rotation matrix $R_{e}^{2}$, which is the rotation matrix of frame $e$ with ...
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1answer
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What is a simple way to assign frames to a robot manipulator using D-H convenction?
I am studying the forward kinematics for robot manipulators, and I am focusing on the Denavit Hartenberg convenction for assigning frames to the various joints of the manipulator.
The problem is that ...
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1answer
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How to use artificial potential function in manipulator path planning?
The artificial potential method always takes robot as a point, if the manipulator is 6 degrees of freedom, how to use this method in path planning while six links can avoid the collision.
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What is the difference between multi-link flexible manipulators and continuum robots?
I read the review[1] on flexible manipulators, the modeling method of multi-link(even if single-link) flexible manipulators seems very different from the continuum robots like OctArm(multi-section), ...
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1answer
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Visual-Positioning Method
I'm working on mobile manipulator and trying to do visual-positioning of the end-effector.
My camera will located around 1-2 meters from the robot.
I'm sure i cant use color tracking method because ...
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2answers
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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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1answer
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Kinematics and dynamics analysis of manipulator in zero gravity
Is there any change in the analysis of kinematic and dynamic analysis of the manipulator which is working in zero gravity or microgravity?
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Converting from Modified to Standard Denavit Hartenberg
This is probably a noob question.
But as of right now I am having difficulty converting from the Modified DH to a Standard DH parameters for the Franka Emika Panda. I need standard because it allows ...
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1answer
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Articulated configuration
I'm reading Theory of Applied Robotics, 2nd edition by Jazar. The author states that articulated configuration has the following form: $R \vdash R \perp R$ where $R$ stands for revolute joint, $\vdash$...
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1answer
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Robotic Manipulator 3-RRP v2
I recently asked a question about a 3-RRP manipulator but the only answer didn't work for my robot.
I would describe the manipulator as an arm that rotates around the shoulder over the x-y axis, the ...
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2answers
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3-RRP manipulator robot
I'm having some issues with a planar manipulator I have to deal with.
The first two moves are rotational and the third one is a prismatic one. The shoulder and elbow move around the X-axis, while the ...
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1answer
39 views
Definition of robotics manipulator?
I'm new to robotics, I don't understand the way wikipedia defines robotics manipulator. If there is no any direct contact how could the robot move things within his work envelope.
In robotics a ...
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2answers
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What is the degree of freedom of the following drone?
This might be a stupid question to ask here .i am confused whether the dof of this drone is 3 or 4?
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Calculating Error of Arm Manipulator
How can we calculate the error position of arm manipulator?
Let's say we have a Transformation Matrix:
$$\begin{bmatrix}
R_{00} & R_{01} & R_{02} & x\\
R_{10} & R_{11} & R_{12} &...
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1answer
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Fuzzy logic controller for controlling a four-bar linkage
I am trying to design a control system to move a joint of four bar linkage according to desired trajectory. A dc-motor is used to move the joint.
Can fuzzy logic controller be used to solve this ...
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Why my kinematic diagram is not giving the same position and orientation while forward kinematics test?
I am sharing my matlab code so that you can also generate the simulation .
...
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1answer
167 views
DH Parameter for OpenManipulator X from Robotis
I try to solve forward kinematics problem for OpenManipulator X from Robotis by using standard DH convention. The figure and dimension of the robot like this pic
I try to find DH parameter and got ...
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2answers
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Effiecient computation of coriollis matrix
I want to perform kinodynamic motion planning on a 6DoF hybrid manipulator. I calculated mass matrix, coriollis matrix etc using the lagrangian method. The coriollis matirx was calculated symbolically ...
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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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Task Space Control Parameters for 6-Dof Manipulator
I'm developing a Task Space controller based on speed for a Universal Robot 5. I've already calculated the Jacobian, position and rotation error for the classic control method:
The method works fine ...
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1answer
452 views
What is the difference between the pose of a robot and the configuration of a robot?
Do "configuration" and "pose" means the same thing? If not what is the difference?
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128 views
Why do I need impedance control?
I am having a hard time understanding the impedance controller.
I see that it looks at the manipulator as impedance and the environment as admittance. However, it is hard to grasp the concept and ...
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1answer
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Why does degree of freedom only consider continuous values?
In the book Modern Robotics Chapter 2 Configuration space, we are told that degrees of freedom only considers coordinates with real valued continuous range.
Why is this the case?
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Control Algorithms for Kinesthetic Teaching
There are several algorithms for post-processing of kinesthetically demonstrated motions for manipulators learning a task. However, I have failed to find papers/research work on modeling the ...
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2answers
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Inverse Kinematics - How to only find a unique joint angle solution in 4 dof robot?
I have to develop an algorithm to determine the necessary joint angles to achieve a desired TCP position and orientation in a 4 joint manipulator. I have come across a concept called "degeneracies", ...
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1answer
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D-H parameters verification
This robot has 2 revolute joints in advance then one cylindrical joint, then one revolute joint, then another cylindrical joint, then three revolute joints at the end.
There is no D-H table for that ...
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1answer
221 views
Which motors are specifically used for UR3 (Universal robot arm) [closed]
I am looking for the specification of UR3, peak torque and rpm.
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Understanding MoveIt! and OMPL more deeply
I wanted to know the actual mathematics behind the path planners MoveIt! uses for manipulators from OMPL. I tried to look into source codes but couldn't get enough details.
I wish to know:
How cost ...
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Orientation problem between Gripper and Object ??
I am working on a pick and place project using ROS & MoveIt!, I wrote my own pick and place functions which generate grasp poses according to the pose of the object and then automatically picks. (...
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1answer
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zero-g mode for UR10 gravity compensation
I would like to freely move my UR10 arm in response to an external force, just like the zero-g mode for Baxter robot, which can be activated by holding its wrist. The Baxter documentation on zero-g ...
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Developing world-frame Jacobian using product of exponentials [closed]
I am going through different texts (Spong Robot Modeling and Control, Murray Mathematical Introduction to Robotic Manipulations) and I am seeing different Jacobians developed for the same RRRP ...
