Questions tagged [robotic-arm]

The arm tag is intended to be used for questions relating to robotic arms from, small hobby arms with only 1 or 2 degrees of freedom to large industrial robots with complex joint assemblies. For the ARM CPU, use the tag arm-cpu.

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Collision check of a 6-DOF robotic arm

Initially we started with 3-DOF. We checked collisions in the c-space and it worked well. With 6-DOF we're having problems. Any ideas about how to check collisions for a 6-DOF robotic arm? Thanks in ...
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4answers
45 views

How to draw robot manipulator diagram

I've been seeing a lot of these diagrams online and wondering how can I replicate this myself. Is there any easy-to-use software package that will allow me to draw these diagrams quickly and ...
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0answers
30 views

Distance between a robot configuration and its configuration space

I am working on the distance between a robot (defined by its joints angles) and its configuration space. I want to defined a simple distance to be able to get in which configuration the robot is too ...
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2answers
33 views

What is the best way to simulate Staubli robots inside a C++/C# app

A little bit of context : I want to create an app using C++ (or C#) to handle 3D objects (obj), I will perform some operations on those 3D models to create some robotic trajectories. Then I want to ...
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30 views

inverse kinematics robot RRR

I realized an analisis of inverse Kinematics but I couldnt solver the equations that I find. the robot is RRR I believe that this problem have solution however I didnt find in the web :( if somebody ...
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0answers
17 views

velocity and acceleration of end effector

assume we have maximum angular velocity and maximum angular velocity for each joint in 6 DOF manipulator. now how can we calculate maximum velocity and acceleration of end effector at any path planing?...
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51 views

6DOF kinematic robotic arm programm

I am trying to find a well documented library which I can use for my 6dof robotic arm (https://www.thingiverse.com/thing:1693444) But I cant find anything :( Does anyone have a python/c code for ...
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1answer
77 views

6DOF Kinematics moveo

I asked on stackoverflow for the DH-Parameter for my robotic arm (moveo bcn3d). I also copied the arduino code of Skyentific (YouTuber). Modified it to match my settings but i still does not work. Can ...
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1answer
52 views

Compute Maximum End Effector Velocity Along Path

Let's say I have a 2-link planar robot arm. The motors in both joints have maximum angular speeds that limit how fast they can spin. If I plan a path from point A to point B with a constant end ...
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1answer
23 views

Calculate Torques & Forces From Jacobian Matrix

Dear Robotics Stack Exchange, I am trying to calculate the torques and forces for a 2DOF robot. I’m used the partial differentiation method to find the Jacobian matrix. I managed to find the ...
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1answer
22 views

How to find Joint Angles or Theta for 7DoF Robotic Arm

I am trying to find the joint angles or at least theta to be used to find the Denavit-Hartenberg Parameter for a robotic arm (Baxter's right arm). I have the link lengths and such, but I don't know ...
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Difference between CHOMP and DRL

in terms of motion planning, what are the difference between gradient-based motion planning (for instance, CHOMP http://www.nathanratliff.com/thesis-research/chomp) and deep reinforcement learning? ...
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Deduce all possible configuration for a given CONF param FANUC

I am working on the "CONF" parameter of FANUC Robots. The "CONF" param determine the pose of the robot (maybe to have only one inverse kinematics solution). This configuration is ...
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1answer
33 views

Elegant way to mathematically relate joint positions (without a root/base joint) for easy re-rooting?

I'm pretty new to robotics, but have learned about the tranformation matrices and how to relate relationships between joints using transformation matrices. I just wonder if there is a system that ...
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1answer
36 views

Stepper Motor: Direct Drive vs. Belt Drive vs. Geared Stepper Motor

I have built a juggling machine. Each arm is driven by a 4A 23mm stepper motor. The motors are each driven by a TB6600 set to 800 microsteps. By trial and error, I have found that the motors skip when ...
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2answers
55 views

How do industrial robots solve the inverse kinematic problem?

I want to make a real-time end-effector position control simulation of a 6 DOF robotic arm. To do so, I should solve the inverse kinematic problem, but due to the complexity of calculations, it is ...
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1answer
27 views

How to find Inverse Kinematics solution to 6 link manipulator planar robot using DH parameters

I want to find out the inverse kinematics solution of 6 link manipulator planar robot, using DH Parameters, but I don't know how to, I know how to calculate for 3 link manipulator but not for 6 links, ...
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1answer
29 views

Depth camera pixel values to 3D coordinates

I have a robotic arm 6-DOF and an Intel RealSense depth camera. I want to go from pixel values to 3D world coordinates, is it possible with eye-in-hand calibration? If yes can you guide me on how to ...
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0answers
21 views

What network protocol/control units are servo-based robots controlled with?

I know most vehicles are controlled via CAN (Controlled Area Network) protocol through an ECU (Electronic Control Unit) which send/receives data using this protocol and then sends/receives Amps/Volts ...
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1answer
24 views

Reducing stress on servo axle

I am designing an articulated robot arm that will not need to hold essentially any weight at its end, but that will need to perform thousands of repetitions (currently using MG 996R servos, but might ...
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1answer
79 views

Trajectory generation equation from jacobian and inverse kinematics

I just built a 4 DOF Articulated manipulator with open-loop servo motors and the servos signals are generated using a micro-controller. I followed the Angela Sodemann's videos on YouTube, I calculated ...
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1answer
53 views

Velocity-Control of a manipulator without a dynamic model

I have a five DoF robot. Each axis is connected to a cylinder. You can send PWM values to each cylinder and you are able to read out the position values of each cylinder which makes it possible to ...
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2answers
257 views

Impedance Control vs Position Control

I have been reading up on impedance control, and several sources have stated that it is much safer than position control. However, frustratingly, none of these sources have explained why this is. So......
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1answer
121 views

The modulus of each columns of the rotation matrix is

The modulus of each columns of the rotation matrix is 1, 0.5, 0.866 or 1.366 which one is correct?
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0answers
266 views

The last three axes of PUMA robot

The last three axes of PUMA robot:- option(1) intersect at a point option(2) are at equal distance from first three coordinate axes option(3) have non-zero link lengths option(4) have parallel z-axes ...
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0answers
40 views

Kalman filter for visual tracking of a ball sliding on a gutter

I'm working on a project where a robot needs to keep a ball at a desired position on a gutter. The gutter is fixed at one end and held at the other end by the robot’s ...
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1answer
60 views

Scara chess robot design for 3d printing

I have two question regarding a Chess robot. I want to build a Scara robot that could play chess on a 37 x 37 cm chess board, but I couldn't find any design that can cover the whole chess board and ...
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12 views

.How to draw obstacles in c-space for my 2DOF scara robot?

I want to use A* algorithm for my robot path planning in c-space. But now I want to map the obstacles from cartesian-space to configuration space. I am building a visualizer in python to see all the ...
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0answers
11 views

ABB IRB 14000 Yumi problem with jogging arm and task execution

I'm working on ABB's IRB 14000 Yumi robot but I'm having some problems. I’m trying to figure out a way in which I could use a Yumi arm in jogging mode while it is carrying out some tasks (the task ...
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1answer
55 views

How to develop Teach pandent for robotic arm

I am working in the development of 5 DOF robotic arm, The Controller will be consisted of 5 Serad Intelligent Servo Motion control drives, and I am working for HMI development currently, The Teach ...
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0answers
20 views

Is there any RAPID instruction to save image as variable in YuMi integrated vision without using RobotStudio?

I want to perceive the images from the cameras embedded in YuMi IRB 14000 arms and store them as videos, in Ubuntu without using ABB RobotStudio. is there any way to do that? if yes how can I do that ...
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1answer
90 views

how to find Singularity and jacobian Inverseof 5 DOF Robotic arm?

I am working on calculating the Jacobian Determinant to find the singularity of my 5 DOF Robotic arm, I have calculated the jacobian matrix, and the matrix I got is a very large value As it is non ...
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21 views

Hand-Eye Calibration without Robot Arm Calibration

I'm trying to do Hand-Eye Robot-Camera calibration. And I'm using MZ12(NACHI robot) and D435(Intel camera). But accuracy of the calibration result is so low. Average error of translation moving is ...
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1answer
29 views

TV Umpire replaced by Robot (machine)

https://en.wikipedia.org/wiki/Third_umpire Is it possible using Robotics, Artificial intelligence, Machine learning technologies to replace the TV umpire - Human by a Robot (machine)? i.e. The Robot ...
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1answer
22 views

What is the most accurate method to calculate Torque of 5 DOF Robotic arm

I am working for development of a 5 DOF Robotic arm , and I am confused in the Torque calculation This is a 5 Axis revolute Joints Robotic arm , where Motor for 1st axis will rotate the turning table ...
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1answer
75 views

Solidworks to URDF for robot arm with complex joint's

I've tried to create a URDF model of an arm robot similar to the following links using Solidworks to URDF plugin. This plugin creates a hierarchy relation between joint and links in any robot ...
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1answer
25 views

Controlling Integrated Servo motors with PLC for 5 DOFIndustrial Robotic arm

I am working on developing a 5 DOF robotic arm having 50 kg Payload using PLC, we are willing to source the integrated servo all in one (servo drives, encoder, and servo motor) with no breaks and ...
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2answers
70 views

How to calculate potential enegy of manipulator dynamics?

I'm trying to obtain dynamics of a 4 DOF robot. Firstly, I calculated all Transformation matrices and Jacobians. While solving Lagrangian there is two main things one is kinetic energy and the other ...
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1answer
38 views

Cartesian control for $z$ vector of end effector frame to point towards a specific direction

Consider a robotic manipulator with 7-DOF (all joints are revolute) that accepts joint velocities as execution commands. What I am trying to achieve is the following: I want to calculate the ...
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1answer
60 views

How to calculate potential enegy of manipulator?

I'm trying to obtain dynamics of a 4 DOF robot. Firstly, I calculated all Transformation matrices and Jacobians. While solving Lagrangian there is two main things one is kinetic energy and the other ...
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1answer
45 views

How to calculate Inertia tensor?

I'm trying to obtain dynamics of a 4 DOF robot. Firstly, I calculated all Transformation matrices and Jacobians. While solving Lagrangian there is a term I - Inertia tensor . I couldn't understand the ...
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1answer
31 views

I'm looking for a simplified control scheme for a game-rendered robotic arm

I'm a programmer, but not savvy with robotics (to lay a baseline for my lack of knowledge). I have a game-simulated arm that allows me to set joint angles which it will automatically move the joints ...
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2answers
111 views

No electric motors can handle being stalled for even short periods of time, even at low power. Is this statement true in all cases?

We were using a regular POLOLU d.c motor whose stall current is 0.36A. We want to use this motor in a robotic hand where the motor will be stalled while holding the object. We are limiting the current ...
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2answers
44 views

What type of rigid body rotation can best be learned by neural networks?

I am training a reinforcement learning network in simulation for a robot which at the current stage learns Euler Angles to rotate the end-effector based on the actual state. The performance is overall ...
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1answer
43 views

Does 6DOF robot arm + linear rail = 7DOF arm?

Assume we have a 6DOF manipulator, take UR5 as an example. Does adding a linear rail, on which the robot sits, add a 7th DOF to the system, making it equivalent to a 7DOF manipulator? Any caveats?
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24 views

How I Calculate the correct Joint Torques of Robotic arm in Simmechanics?

I have imported my Solidwork Robotic arm into Simmechanics successfully, now I want to calculate torque required for each joints at different conditions, I cant find the Torque, I have tried Total ...
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1answer
12 views

Determining Base Configuration Tsb from End-Effector Configuration Tse for youbot

Hello there, hope you are doing great. Right now I am trying to control youbot to pick and cube and place it to a certain position, on simulation. However, I believe that the reference trajectory is ...
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1answer
36 views

C space for R5 manipulator

Trying to create a collision avoidance model (RRT) for an RRRRR manipulator. I am unable to wrap my head around how to represent the same in configuration space. Anything upto 3 joint variables is ...
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1answer
50 views

My Pick and Place Program Not Working

hope you are all well. I am trying to finish a capstone project on Coursera. It asks me to carry a cube object from an initial position to goal. This video shows the movement. Project website: http://...
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0answers
29 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 ...

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