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 ...
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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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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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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 ...
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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 ...
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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 ...
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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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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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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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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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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:
...
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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 ...
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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 ?
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Why is admittance control better than impedance control for huma robot collaboration?
I have seen many papers that use admittance control for human robot collaboration but no one tells why admittance is the choice and not impedance. Is it something very trivial that I should know or ...
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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 ...
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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.
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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 ...
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Question about Impedance control in The Modern Robotics: Mechanisms, Planning, and Control
Impedance equation In 11.7.1 section $\tau = J^T(\theta)(\hat{\Lambda}(\theta)\ddot{x}+\hat{\eta}(\theta,\dot{x}) - (M\ddot{x}+B\dot{x} + Kx))$ is actually means $\tau = J^T(\theta)(\hat{\Lambda}(\...
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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 <...
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For robot manipulators what is the relationship between angular velocity and time derivative of quaternions?
For a robot manipulator with joint angles $\theta$, the well-known relationship is
$$\omega = J_\omega(\theta)\dot{\theta}.$$
What if the angular velocity is represented as the time derivative of ...
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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 ...
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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 ...
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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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