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Questions tagged [robotic-arm]

A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot.

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Robotic Arm Senior Capstone. Electronics/Controls/Sensors Questions

I am a mechanical engineering student currently working on my senior capstone. My team of all MechEs has to build a robotic "arm" where the arm is really just a link/bar of aluminum. The thing we ...
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Inverse Kinematics - How to only find a unique joint angle solution in 4 dof robot?

I have to develop an algorithm to determine the necessary joint angles to achieve a desired TCP position and orientation in a 4 joint manipulator. I have come across a concept called "degeneracies", ...
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which are the most powerful components in rebot and which one language mostly used in rebotics? [closed]

which are the most powerful components in rebot and which one language mostly used in rebotics? And which component is utilize first in rebot.
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What servo motors do I need for lifting at least 10 pound of something and hold it in place? [closed]

I am very much new to robot building. I am building a robotic arm for a everyday use. Basically, it will be used to hold and position a yard tools while the tool is being used and will be controlled ...
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Deriving the equations of motion for free-floating spacecraft with a single link robot arm

Note: I had previously posted this question on the Space SE site, but received little/no response. So I've deleted the old post and repasted it here in the hope of getting more responses. I'm trying ...
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3answers
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Polylactic acid - Can I drill into it?

For a school project, I'm creating a mechanical arm and I'm thinking about using a 3D printer to create some of the pieces. Obviously, This arm is dynamic, so I wanted to make the pieces as light as ...
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Understanding the kinetic energy expressions for a 1 link vs 2 link robot arm

I'm studying these lecture notes on dynamic models of robot arm links, slides 33-36, where two examples are given for the kinetic energies for a single link and two link robot arm. In the single ...
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Moveit motion planning tutorial failing for Baxter robot

I am trying to use Moveit to perform motion planning on Baxter left arm. I ran the motion planning pipeline tutorial code for left Baxter arm(7 DOF) after making some appropriate changes. This is the ...
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Why we want to write all linear system into form of first order differential equations?

It seems to be taken granted that when we deal with some control system, the first thing we want to do is to linearize the system and put it in form of first order differential equations like $\dot x =...
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Challenges involved in designing an Industrial Robotic Arm [closed]

I was wondering if any robotics engineers around would kindly, provide suggestions on the following: I was recently hired by a company that wants to implement a robotic solution in manufacturing ...
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2answers
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sampling algorithms in motion planning and local minima

I am trying to run RRT algorithm for motion planning for a quadrotor. The quadrotor ends up sometimes in corners without reaching the goal. I realized from sources online, that it is due to local ...
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Universal Robots UR10 TCP/IP Communication with C# setup help

I'm currently working with a UR10 arm. Im trying to build a client server TCP/IP using Visual Studio 2017. I found this guide on the UR website: https://www.universal-robots.com/how-tos-and-faqs/how-...
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D-H parameters verification

This robot has 2 revolute joints in advance then one cylindrical joint, then one revolute joint, then another cylindrical joint, then three revolute joints at the end. There is no D-H table for that ...
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Controlling industrial grade dc motors fitted with analogue or digital encoders for robotic arm

I am new to such industrial motors. I searched through the datasheets of these motors ( analogue and digital ) and didn't get clear answer about how I would be able control with MCU like Arduino or ...
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2answers
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Controlling Stepper or DC motor with L298 or L293 and getting operation similar to Servo for 6 dof arm

I will be using 1:4 gear ratio and thus will require a motor with a continuous 360 motion and a high torque for efficient functioning. Servo motors with continuous rotation and high torque are very ...
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Denavit-Hartenberg convention in practice

How are the coordinate frames and D-H parameters determined in industry? Does one use the CAD drawing of the arm or physically take measurements of the actual arm?
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1answer
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Finding Joint speeds for each joint of a 6DOF arm (UR10) using the Inverse Jacobian

Background: I have access to a UR-10, 6DOF robotic arm through my school (I'm very new to robotics). I know the desired set of linear speeds that I want in the x,y, z-direction in terms of the end ...
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How to move a Stepper Motor to a desired angle with raspberry pi?

I will be using stepper motor in 6 DOF robotic arm along with Servo motors. Unlike Servo motor ,I find difficult to control Stepper motor. I was earlier using only Servo Motors but due to lack of ...
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Are there standard angular velocities when it comes to robotic arms?

for manipulators that lift heavy loads, e.g. a car or a cow, what would be the ideal angular velocity? Are there any standards for arm safe moving speed? (of course I know it depends on the project ...
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Creating linear end effector motion using joint speeds: Converting tool speed to joint speeds

Background Information: I'm new to robotics and my school currently has access to a 6DOF Universal Robot (UR-10). I'm programming it using its scripting language URscript and the arm has these two ...
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1answer
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Control Pneumatic Cylinder Position with Potentiometer and Analog Comparator on Arduino Uno

I am building a robot arm that is actuated by a pneumatic cylinder. Extending and retracting the piston would increase and decrease the joint angle respectively. This is done using a 5/3 solenoid ...
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How to calculate the forces acting on an object of mass 'm', which is vacuum gripped at the end of a robot arm? [closed]

I would like to understand, how to calculate the forces/what all forces act on an object that is currently being gripped by a suction gripper and when it moves. Gravity is one, which will cause the ...
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Best way to actuate J5 (wrist) on 6 axis robot arm?

I'm designing a robot arm with an intended payload of ~2 kg and 60 cm reach. I've been working off of the AR2 arm design, which has the typical turret | shoulder | elbow | wrist roll | wrist ...
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1answer
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Transformation matrix using DH parameters

I want to write a Matlab function which takes the DH parameters as input and outputs a 4X4 transformation matrix. The code I have written is : ...
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1answer
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Which motors are specifically used for UR3 (Universal robot arm) [closed]

I am looking for the specification of UR3, peak torque and rpm.
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I am confused about this jacobian concept Would be great if some one solves this question?

For a two link planar manipulator length of the first link is 2 units and length of second link is 1 unit.It's Jacobian matrices at 3 different configuration(named J1,J2 and J3) have been given as ...
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2answers
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Understanding MoveIt! and OMPL more deeply

I wanted to know the actual mathematics behind the path planners MoveIt! uses for manipulators from OMPL. I tried to look into source codes but couldn't get enough details. I wish to know: How cost ...
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How can I measure the BEMF signal and zero cross detection?

I have started to work on a Sensorless BLDC motor. In open loop mode, Sensorless BLDC motor is running in properly. My question is how can I measure the BEMF signal and zero cross detection? Motor ...
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1answer
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OnRobot RG2 Gripper on UR3 with TCP communication

I am using a UR3 Robot with OnRobot RG2 Gripper. I have successfully connected the robot to my computer via Ethernet and i am able to send move commands and receive data successfully with Python. But ...
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Orientation problem between Gripper and Object ??

I am working on a pick and place project using ROS & MoveIt!, I wrote my own pick and place functions which generate grasp poses according to the pose of the object and then automatically picks. (...
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1answer
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Two 4 bar mechanism vs stepper motor on each linkage in a 4 DOF robotic arm

I am planning to make a 4 Degree of Freedom(DOF) robotic arm. I have a confusion in mechanical design of the robot. Shall I use two 4 bar mechanisms to reduce the number of actuators? or a stepper ...
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How to transfer motion between these two parts?

I'm trying to model this arm and I'm having a problem knowing what way could I use to make the red part always parallel to the surface of the table
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Using python to create AI

Just asking a quick question about implementing some python AI. I have a home built circuit running an ATmega32u2 chip and I was wondering if it’s possible to use this code on the chip? Or do I have ...
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Simulation of error in following trajectory for robot manipulator

I am working on a surgical manipulator project where I have optimized the link lengths of the manipulator for maximum isotropy. Does the maximum isotropy reduces the error in following predefined ...
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How to find jacobian using kdl that matches with bullet physics jacobian

I am trying to calculate jacobian with kdl (pykdl) and bullet physics (pybullet). With bullet physics I can only find Jacobian of whole robot, but I want to find Jacobian for a kinematic chain. So I ...
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1answer
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How to plan path for robotic arm with RRT?

I have written simple RRT planner however I am not sure how to apply it to a robotic arm path planning. The issue is that of analytical solution absence to inverse kinematics problem. Let me explain. ...
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Straight Line, Point to Point Movement

I am currently programming a robot using G-Code to draw basic shapes with a pen. When simulating my code for a square, the robot moves from a corner in a diagonal line, until returning straight. At ...
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Solving Inverse Kinematics for ABB IRB 120

I am working on an ABB IRB120 simulation using MATLAB Simulink. I use the decoupling method to solve the inverse kinematic of the robot. However, I have some questions related to the computation of ...
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Screw based Jacobian

I am working on kinematics of 5-DOF robot. I already derived geometric Jacobian for position and orientation control. But for singularity analysis, I require a simplified jacobian. And that can be ...
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Angular velocity vector expression uncertain?

I have this problem of an excavator from a test I took a while ago. Frame $\underline{\vec{e}}^0$ is the origin. Frame $\underline{\vec{e}}^1$ rotates around $\underline{\vec{e}}_{3}^0$ with angle $\...
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Which Kinect to use for robotic arm pick and place application with object detection?

I am building a robotic arm for pick and place application. The robot is going to recognize several objects using the RGB feed from Kinect (will use a model such as YOLOv2 for object detection, ...
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2answers
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Plotting SE(3) points in a 3D graph

I have a data-set containing points in SE(3), i.e the 4 $\times$ 4 transformation matrices and the corresponding dual quaternions. Now, I want to plot these points in a 3D graph. How to generate this ...
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Some Question about TOSHIBA robot

TS Series robot what is the "Point Position" what is the "posture" I want to know what the meaning of each location information means. 6-axis (x,y,z,a,b,c,u,v) SCARA (x,y,z,c,t) what is the "...
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Developing world-frame Jacobian using product of exponentials [closed]

I am going through different texts (Spong Robot Modeling and Control, Murray Mathematical Introduction to Robotic Manipulations) and I am seeing different Jacobians developed for the same RRRP ...
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Creating transfer FNC

im working on controlling a 2 link arm with simulink, and wanted to try torque control. I've built a trajectory generation function in matlab and it gives me the position that the joint needs to be in ...
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1answer
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Singular configurations of a 7-dof robotic arm

I want to check for singular configurations of a 7-dof robotic arm (RRRRRRR). I have found the geometric Jacobian and it is a 6x7 matrix. If my theoretical background is solid when the Jacobian loses ...
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Choosing motor for shake/push pull action?

I'm looking forward to choose motor for shake or fast push/pull action. On this video you can see example motion on 3:04. I read linear motor does that but looks like much slower. What kind of motor ...
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Basics of robotics mathematics, transformation

Calculate transformation which let us to take a item from a table if we know: position of robot base($R$), table($S$) with mounted TV camera($K^{S}$) which send a item's image $D^{K}$. A grip system $...
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Planar manipulator matlab simulink error

I want implement feedback linearization for a planar manipulator 3 DOF. I define the desired position,velocity and acceleration for each joints for every 0.01s. So I set in solver options "Fixed-step ...