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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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Related matlab code for end point deflection of a flexible robot manipulator [on hold]

I'm trying to model a similar robot manipulator as given in the following link. I would like to ask whether anyone in the community has dealt with such a problem and if anyone is having a matlab code ...
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Can you buy a torque-controlled motor? [on hold]

I'm reading a book on robot manipulator control, and it assumes that you have control either of the joint velocity, or the torque acting on them. It motivates this by stating that there is an inner ...
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Robotic arm length Ratio [on hold]

I'm designing a custom welding robotic arm. i don't know how to select the ratio of the arm length for good area covered by the robotic arm. can you help me please.
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How to implement end effector orientation in generic IK solver

I am trying to script a basic, lightweight IK solver with a Jacobian Transpose method. I have gotten a basic script that reach the desired position very quickly. What I am not able to do is achieve a ...
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How to limit a robotic arms 's rotational movement to 90 degrees with Adams?

I want to limit a joint's movement so that instead of rotating its whole 180 degrees in workspace, just rotate 90 degrees and back, using Adams simulation application. Can anyone help?
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2answers
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Jacobian of a 6DOF arm

I have a robot with 6 DOF. I read a lot of tutorial on how to compute the Jacobian, but usually all examples are for planar robots with 2DOF. I don't understand how can I get the Jacobian of a 6 DOF ...
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1answer
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What is the rectangular-shaped joint in this diagram?

What is the rectangular-shaped joint under the M1? What does it do, and what is its DOF?
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How to account for end effector orientation when calculating thoretical holding force?

This is in context of a robotic arm whose tip is attached to a vacuum gripper. The theoretical holding force of a vacuum gripper is given by, $$ F_H = m(g+a)S$$ which is, $$F_H = (F_g + F_a)S $$ ...
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Which motor(as cheap as possible) and of how much torque should i use in my robotic arm of 5 dof to lift 1kg weight and throw it 2metres of distance?

This is the cad(solidworks) model i chose and it has 5 degrees of freedom and need to lift 700 grams object and throw it at a distance of 2metres. I want to know the motors which are suitable for it ...
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How to check if end-effector configuration is possible?

Let's say I have an under-actuated manipulator. Then there are end-effector poses in my workspace that may be impossible to achieve. How can I determine if a pose is unreachable? Mathematically, I ...
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1answer
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3 arm robotic claw

I am attempting to design a 3 prong robotic claw for a robotic arm I am working on. I am planning to use sg90 servo motors, but I can't get my current design to work. My current layout is to use one ...
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Which sensoring approach is better for Cobots?

Which approach is better for collaborative robots. Have serial elastic actuators in each joint (like in Rethink Sawyer) or have Force Torque sensors in each joint? Or Force-Torque Sensor in the last ...
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1answer
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Can somebody explain how these forward kinematics matrix equations were formulaed?

Here's the link to the entire answer: Designing a 5 bar linkage robot: Plot Clock
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1answer
35 views

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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2answers
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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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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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5answers
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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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1answer
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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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194 views

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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1answer
63 views

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
66 views

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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4answers
249 views

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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2answers
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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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2answers
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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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1answer
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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
87 views

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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0answers
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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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53 views

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
66 views

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
178 views

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
34 views

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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1answer
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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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1answer
49 views

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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110 views

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
141 views

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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39 views

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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1answer
286 views

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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1answer
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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, ...