Questions tagged [manipulator]

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

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2answers
288 views

Dealing with fixed transformations while solving inverse kinematics

I am trying to solve inverse kinematics (using the Jacobian pseudoinverse method) for a 7 DoF arm, but because of the way the robot is mounted, the base frame does not coincide with the frame of the ...
2
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2answers
481 views

Inverse kinematics: how to specify TCP constraints in an iterative algorithm?

I am trying to write some simple code to perform IK for a 6 DoF redundant robot using the Jacobian pseudo-inverse method. I can solve IK for a desired pose using the iterative method, and I want to ...
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3answers
2k views

how to manipulate arm robot? [closed]

I want to make a robot arm with a gripper that can go to any x y z coordinates near it. the robot itself will be simple just servo motors and Arduino but I don't know how to make reach the desired ...
5
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4answers
3k views

Dynamic torque simulation for a 6 DOF robotic arm

I am working on a 6 DOF robotic arm(industrial manipulator). I have the basic structural specs (dimensions, weights etc) for the links and joints with me. Basically, I want to simulate both static ...
1
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1answer
441 views

Rostock Delta Robot 3D Printer Degrees of Freedom (DOF)

What is the degrees of freedom (DOF) of the Rostock delta robot 3d printer (delta mechanism that consists of three prismatic joints)? Here's the link to the delta mechanism I'm referring to: https://...
5
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3answers
1k views

Computing the Jacobian Matrix -- chain rule?

I am learning about robot kinematics and the Jacobian matrix, and I'm trying to understand how to compute the Jacobian matrix given a kinematic chain, such as a robot arm. I understand the theory ...
1
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2answers
4k views

Difference between Degrees of Freedom (DOF) and Degrees of Motion (DOM)

What is a difference between degrees of freedom (DOF) and degrees of motion (DOM)? I know that DOF is the number of independent movements a manipulation arm can make and robot system can have max 6 ...
4
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1answer
283 views

Anthropomorphic Arm

I developed an anthropomorphic arm (structure in aluminium) with 6 DOF (3 plus spherical wrist) for direct kinematic. I chose magnetic rotary encoders to measure angles but I am not satisfied, due ...
4
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1answer
975 views

Robotic manipulator Jacobian by product of exponentials

I've taken a class and started a thesis on robotics and my reference for calculating the Jacobian by product of exponentials seems incorrect, see: http://www.cds.caltech.edu/~murray/books/MLS/pdf/...
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2answers
281 views

Optimal trajectory for manipulators using optimal control

I'm trying to implement direct-multiple shooting method to my problem. ...
2
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2answers
2k views

Calculate required motor torque through Harmonic Drive

I have a term project which is controlling a two-link manipulator with harmonic drive installed at each joint. To control, i used Computed control method to determine the torque needed for each joints ...
2
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1answer
712 views

7DOF inverse kinematics spherical wrist

Is it possible to apply kinematic decoupling for a 7 DOF 7R manipulator with spherical wrist? If it is possible, can anyone suggest a reference on how to apply this approach with a redundant ...
3
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1answer
491 views

Human arm inverse kinematics

Hi I want to implement an human arm robot and a task such as moving a glass between two points using Robotic Toolbox for Matlab by Peter Coorke. I'm a student and I'm a newbie in this kind of things ...
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2answers
3k views

How to find the body jacobain, for each link in a robot manipulator?

The links twist could be obtained, and thus The spatial manipulator Jacobian could be done, but when it comes to the body Jacobian, it is becomes difficult. Moreover, the adjoint transformation ...
7
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1answer
4k views

Can a Jacobian be used to determine required joint angles for end effector velocity/position?

I'm in the early stages of working with a simple robot arm, and learning about the Jacobian and inverse kinematics. From my understanding, the Jacobian can be used to determine the linear and angular ...
9
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4answers
2k views

Implementing a torque-controlled method on a position-controlled robot

I am working with a position-controlled manipulator. However, I want to implement a torque-controlled method on this robot. Is there any way to convert a torque command to a position command? I try ...
5
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3answers
598 views

Proportional controller error doesn't approach zero

I'm reading this pdf. The dynamic equation of one arm is provided which is $$ l \ddot{\theta} + d \dot{\theta} + mgL sin(\theta) = \tau $$ where $\theta$ : joint variable. $\tau$ : joint torque ...
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2answers
36 views

Short distance ball transport

I'm looking for a way to transport balls (diameter 50mm) 220 mm up with over a slope with a length of 120 mm. Currently I'm considering the usage of a belt system but I cannot seem to find a good belt ...
6
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2answers
686 views

Static equilibrium for 7 dof manipulator

I have a 7 dof manipulator (Kuka LBR4+) and would like to calculate the joint torques needed to keep the arm in a static equilibrium. In most books the transposed jacobian is used to map the forces ...
6
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1answer
8k views

Computing inverse kinematic with jacobian matrices for 6 dof manipulator

I'm trying to calculate the inverse kinematic for an 6 dof manipulator. Task: A target point $p_{target} = (x,y,z)^T$ and the orientation $o_{target} = (a, b, c)^T$ are given and I want to get the ...
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0answers
93 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: ...
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0answers
172 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 ...
2
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2answers
220 views

How do I select the best configuration for a known workspace, load and task?

Given workspace constraints, load and task to be done, how do I select the best configuration of my robot? How do I select between a cartesian or Scara robot for instance? How do I select a ...
11
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3answers
565 views

Which is model is best for feedback control of robotic manipulators: MIMO or parallel SISO?

I'm currently designing a robotic arm with 6-DOF, and my goal is to be able to give setpoints for 3d position, velocity and orientation ($x,y,z,\dot{x},\dot{y},\dot{z},\theta,\alpha,\gamma$). I only ...

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