# Questions tagged [manipulator]

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

27 questions with no upvoted or accepted answers
Filter by
Sorted by
Tagged with
153 views

### 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 ...
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 $\ q_1 , q_2$...
1 vote
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 ...
1 vote
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 ...
• 11
1 vote
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 ...
• 21
1 vote
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 ...
• 344
1 vote
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.
• 121
1 vote
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 ...
1 vote
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 ...
• 671
1 vote
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: ...
• 123
1 vote
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 ...
• 11
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&...
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 ...
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,...
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 ...
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: ...
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 ...
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....
35 views

### gazebo is not lunaching moveit package

I have a ros noetic moveit package a robotic arm having demo_gazebo.launch file ...
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 ?
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 ...
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. ...
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 ...
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 <...
• 2,453
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 ...
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 ...
• 1