# Questions tagged [manipulator]

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

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141 views

### 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 ...
28 views

### 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 ...
34 views

### 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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### 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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### 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 ...
48 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 ...
330 views

### 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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### Validation of dh parameters

I am working on a concept of robotic arm for which I have fixed DH frames and parameters. Is there any way to validate the correctness of DH parameters and frames ?
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### how to make a configuration space of a robot manipulator?

How to make a configuration space of a robot manipulator from a work space ? it's robot manipulator is 3 degree of freedom. Is a robot manipulator with more degrees of freedom the same process ?. Do ...
568 views

### Euler-Lagrange Dynamic model

I'm working on a masters thesis and need to calculate Mass inertia matrix ($M$), Coriolis/Centrifugal matrix ($C$), and the gravity matrix ($G$) in the equation $M\ddot{\theta} + C\theta + G = \tau$ (...
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### forward and inverse kinematics of arm

I'm trying to figure out to a problem with a planar manipulator. The manipulator has a base effector and L1 and L2 with 3 joints. Question: INVERSE KINEMATICS Given the ...
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### Calculating the singular configuration of a 3 revolute joint manipulator

I would really appreciate it if somebody could help me calculate the singular configuration of this simple manipulator I am confused since J is a 2x3 matrix and I cannot simply calculate the ...
226 views

### Is it possible to control joint torque using the position input and torque feedback?

So I am working with a UR10 manipulator which doesn't have a direct torque interface. However, it provides torque/velocity/position feedback for each joint as well as position/velocity interfaces for ...
654 views

### DH parameters of a PUMA-type manipulator

I'm struggling to find the DH parameters for this PUMA-type manipulator that yield the same results as the author (1): The way I'm checking if the parameters I have are correct is by comparing the ...
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### Symbolic Representaion of Links and Joints: How to sketch complex manipulators using simple symbols?

In some papers and books we can see that authors using symbols to represent robot arms. My question is, is there a convention for such sketches? If so could you provide a reference which shows how ...
955 views

### Different methods to determine DOF: Chebychev-Kutzbach-Grubler method vs. Screw method

I'm familiar with Chebychev-Kutzbach-Grubler method to determine degree of freedom of a robot arm. But it seems this method fails to calculate the mobility of some parallel robots, as explained here. ...
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### Robot Graphical Representation in Real Time

I'm working with a robot intended to be placed in a tele-echography environment. To control the robot I'm using a 6D space mouse that control each degree of freedom of the robot. However, since the ...
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### Are scissors what I want for moving straight up and out?

I'm a programmer. I had a tiny amount of experience building robots in college a few years ago, but haven't done anything since. I'd like to build a robot that can move around my house, pick items up ...
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### Dynamics of a 3R planar robot manipulator,matrices M(q),C(q,q') and G(q)

The dynamics equation is T=M(q)*q''+C(q,q')*q'+G(q). Can somebody provide me with the M(q), C(q,q') and G(q) matrices of a 3R manipulator with link mass,length and rotational inertia m_i, l_i and ...
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### How to use RL (Robotics Library) with Xcode?

I came across RL to program robotic manipulators. But according to the website, currently supported websites are Ubuntu and Windows only. Since Ubuntu and Mac OS are based on UNIX kernel, is it ...
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### Cloth (non-rigid body) manipulation with computer vision? [closed]

I am currently working on a prototype device to automate cloth ironing task. So basically the mechanical design involves 4 manipulators and a separate manipulator arm with a hot pad (iron) to ...
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### How to decide links length of manipulator?

I'm working on pick and place robotic arm with 4 dof. I'm using MATLAB for inverse kinematics. But, I want to know how to decide links length. Say, I have four point in space upto where my robotic arm ...
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### Integrating Forward Kinematics Map

Let the forward kinematics map be denoted by $\mathcal{F}$ such that $\mathcal{F}: \theta \in \mathbb{R}^{n} \rightarrow g \in SE3$ Let the minimal representation of $g$ be given by \$x \in \mathbb{R}...