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Questions tagged [manipulator]

manipulator is a device used to manipulate materials without direct contact.

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How can i consider orientation of 6dof manipulator for inverse kinematic?

i been trying to code IK solver for few days, and i finally move the robot to the desired position. However im having hard time to orient the end-effector as i want it. I read the "Robotics ...
Haegu Lee's user avatar
2 votes
0 answers
253 views

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 $...
Teo Protoulis's user avatar
1 vote
0 answers
44 views

Grasp matrix implementation

I've majorly followed Dex-net implementation to calculate a grasp matrix (G) to compute other grasp quality metrics (e.g., Ferrari Canny L1 metric or smallest singular value of G). Based on my ...
HOJUN LEE's user avatar
1 vote
1 answer
472 views

How to calculate operating torque and holding torque of a slew drive for a manipulator arm?

Hope you are doing good and enjoying your weekend. I have a question regarding calculation of torque and tilting moment for a slew drive. Slew drive (motorised) will be used at the base of a ...
techno's user avatar
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1 vote
0 answers
44 views

Robotic Platforms Similar to the PiBot(Locobot)

I am brain storming platforms to use for a project I am working on. I'm looking for an mobile platform with a manipulator attached. I originally was focusing on the PiBot, but after doing some ...
neerbasu's user avatar
1 vote
0 answers
532 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 ...
Spaceman's user avatar
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1 vote
0 answers
55 views

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.
paul-shuvo's user avatar
1 vote
0 answers
58 views

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 ...
Felipe Henrique's user avatar
1 vote
0 answers
26 views

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 ...
Akshay Kumar's user avatar
1 vote
0 answers
104 views

VAL language and velocity control of industrial robot

In my bachelor, I programmed CNC machines. Now, working with an Industrial robot arm, I learn that their programming languages are mostly similar. VAL is a typical example, for instance: ...
Shawn Le's user avatar
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1 vote
0 answers
191 views

Dynamics of parallel manipulator

My task is to apply forces to control 3-dof parallel manipulator. Forces are applied to linear actuators, friction is neglected. End-effector of a robot is supposed to follow generated path; for ...
hedziu's user avatar
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0 answers
7 views

How to choose drives for a 6Dof manipulator with a shperical wrist

So my question I guess is tied to design or modelling(Not too sure what topic it falls under) a manipulator according to what I read in the book "Introduction to robotics:mechanics and control&...
Njo_nds's user avatar
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13 views

Designing the kinematics and Dynamics of a spherical joint as 3 revolute Joint

I am working on a project where I am trying to mimic human like motion and for that I am designing a 7 DOF arm with the spherical joint in shoulder as 3R joints and 2R joints for elbow and 2R joint ...
Anshul Nayak's user avatar
0 votes
0 answers
16 views

Can't visualize pre-defined pose in RViz

quite new to ROS. I'm trying to program the trajectory for a 3DoF manipulator using MoveIt! I have been able to visualize it in RViz using MoveIt setup assistant and made sure to setup planning groups,...
Gerardo Del Cid's user avatar
0 votes
0 answers
13 views

Control Manipulator/Gripper through EGM Communication ABB

I am a university student and new to robotics. I am part of a semester project where the goal is to directly control the gripper of the robot. The gripper is pneumatic and can be controlled with RAPID ...
b.combs97's user avatar
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0 answers
120 views

Cant control OpenManipulator on Turtlebot3

I'm using the OpenManipulator on the Turtlebot3 together with Ubuntu 22.04 and ROS2 Humble. When I start the bringup for the manipulator it looks like this: ...
chris98's user avatar
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0 answers
9 views

Bot orienting to same direction regardless of Quaternion value in Moveit

I am trying to control a simulated UR5e bot using ROS. For trajectory planning and execution i am using Moveit. The issue is that when I give a Pose to Moveit, the bot reaches the position (XYZ) just ...
Emaad Ahmed's user avatar
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0 answers
23 views

Open Manipulator python API documentation, or Examples

As stated by the title, is there a way I can access to the python API documentation of the Open Manipulator package? Right now all I can find are service definition such as: https://emanual.robotis....
Ezeuz's user avatar
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0 answers
35 views

gazebo is not lunaching moveit package

I have a ros noetic moveit package a robotic arm having demo_gazebo.launch file ...
Mubashir's user avatar
0 votes
1 answer
93 views

How to model the Cable composites in Mujoco Physics Simulation engine

How to name the cable composite in mujoco, also how to add equality constraint to the end of the cable with another body ?
Rishab Kumar's user avatar
0 votes
0 answers
36 views

Transformation Pose

Hi I am doing a transform from the object to the base_link the orientation seems to be right but the positioning is wrong.Here is my code. i had to change the translation values as when i move foward ...
emanuel rodrigues's user avatar
0 votes
1 answer
133 views

DH parameters of a serial manipulator RRRRRR

I am trying to find the forward kinematics of this manipulator in the picture using DH notation. All of the joints are rotational. I managed to get to the third joint. The parameter table is below. ...
Matěj Kopecký's user avatar
0 votes
2 answers
102 views

When assigning frames in Denavit-Hartenberg (DH) parameters, where do I put the frame on end effector?

I have a simple question, for the last link (end effector) I need to estimate the parameters but when I put the reference frames in the center of the end effector, I just don't know. Last link (end ...
Haisam's user avatar
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0 votes
1 answer
138 views

Why the robot is not at the zero configuration

As part of my testing, I was using Kuka's arm to test some kinematic controllers. In the picture below, when the arm is spawned in Gazebo, the positions of the joints are zero (i.e. obtained from <...
CroCo's user avatar
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23 views

Meaning of p(q) in the expression for minimum clearance from obstacle for redundant robotic manipulators

Can somebody who has studied Industrial manipulators or has worked on Industrial manipulators using Jacobian Inverse and Jacobian Pseudo inverse algorithm for Inverse Kinematics please explain what ...
Robotics_Enthusiast's user avatar
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0 answers
89 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 ...
Shiv's user avatar
  • 1
0 votes
1 answer
430 views

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 ...
Julian's user avatar
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