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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What is the format and required content to define a Joint trajectory using the RoboAnalyzer simulator?

I'm trying to learn how to use the Roboanalyzer simulation tool to model and then display the torques required to pivot a 2 DoF arm. ( [http://www.roboanalyzer.com/][1] ) I see that the tool has a ...
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What is the meaning of joint space and configuration space and task space?

I'm reading an article about teleoperation systems and it talks about three spaces that include joint space, configuration space and task space frames. I do not know what these are, can you explain?
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Vision programming with OpenCV

I am currently working on a project on NiryoOne which requires facial detection of a person through NiryoOne camera (ELP SONY IMX). The code that I am using works on my laptop running ubuntu. However, ...
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Specify pose for inverse kinematics of 5 dof robot arm

I need to specify the pose for a 5 dof robot arm in order to calculate the inverse kinematics. Assuming I worked out the correct inverse kinematics solution for joint variables $q_{1} \dots q_{5}$, I ...
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Val3: Reading an Excel spreadsheet

I want to create a pPoint in Val3, which creates an array with the coordinates. The coordinates to be approached are in an Excel table. Is it possible to read this table using a command with Val3 and ...
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Mounting the ur5e robotic arm on a table

I am working on testing motion planning algorithms on a robotic arm. My arm collides with the ground while moving it from one point to another point. My solution to this problem is to mount the arm on ...
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6-DOF Robotic manipulator

I have the following question, I tried to solve it as follows, can anyone help solve the rest or guide me.
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Drawing in gazebo ROS

I am trying to simulate motion for a ur5e robotic arm. I am using the concept of Rodrigues rotation to get the orientation for the end effector. Is there any way to draw a line in gazebo or RViz from ...
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Multiple Stepper Synchronization with updating position control at specified speed

So I have build a 6-axis manipulator having all the degree of freedom. Currently I have used TeensyStep library for controlling synchronization of 6 stepper axis. Also I have tried AccelStepper ...
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Manually generate antipodal grasps for grasping

I am getting into robot manipulation using parallel grippers, and am learning about it, and programming grasping different objects. I have the 3D model of the objects I wish to grasp. The next step is ...
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What kind of motors do industrial robot have?

What kind of motors do industrial robots use and how do you control them?
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Why do we parametrize matrices?

I'm learning about rotation matrices in class and one of the topics mentioned to parametrize a matrix. What do we need to do this? For further reference: https://www.youtube.com/watch?v=Y8gB7nvtmrU
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this is matlab code for drawing circle by 6dof arm robot but i don't know how to limit the joint's angles

...
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ABORTED: Solution found but controller failed during execution

I've been facing the issue while testing the python code for the trajectory planning task. I've been using the official package of the open_manipulator (https://github.com/ROBOTIS-GIT/open_manipulator)...
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Seeking more information regarding 8-channel Digital Servo Test Controller for Mechanical Arms

I bought an 8 channel servo test controller designed for robot arms off eBay, it tests out pretty well and I'm happy with it. I'm usually pretty successful at hunting down data on these cheaper boards,...
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Inverse kinematics for a 4 DOF arm

I am working with the openMANIPULATOR-X robotic arm and I am trying to implement inverse kinematics for it. I have found this article that talks about kinematic modelling: https://pdfs.semanticscholar....
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Precision/Repeatability issue with XArm6

I have a robotic setup with a XArm6 robot and camera facing up with vision algorithms. I noticed that after a collision or power glitch the robot gets offset. X, Y and Z and angle change according to ...
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Extract the potential energy from the gravity vector

I have a recursive Newton Euler algorithm from which I can compute the gravity vector. My question is, which is the better way to compute the potential energy? I know the following relation between ...
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How do you move large industrial robots? [closed]

I know how they are moved on to a lorry/truck to be taken somewhere but when industrial robots are being built how are they moved around the production centre.
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How to sync motor speeds when doing path planning for a robotic arm?

I am trying to sync the speeds of all motors in a 5 axis robotic arm. By sync I mean determining the speed for each movement so that all axes finish their movement at the same time. The problem I am ...
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Degrees of Freedom

What is the Degree of Freedom for a k-link planar serial chain for k = 2, 3, 6? Using Grüber Formula, I get k-link chain has k Degrees of Freedom. But the maximum DoF in a plane can be 3. I am not ...
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Peter Corke Robotics Matlab Toolbox the problem of inverse dynamics in the Franka Emika Panda model

I have the following question about the Franka Emika Panda dynamic model. In case I perform the solution of the inverse dynamics problem using Robotics Toolbox (Peter Corke) I get different results ...
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Feed-forward controller with lookup table

does anyone have experience in implementing a feed-forward controller for a hydraulic cylinder? Often, when a hydraulic cylinder is controlled with PWM values, people (https://drive.google.com/file/d/...
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What is meant by the phrase "movement positional jitter"?

I was searching online for the meaning of this statement but the closest I came across is that jitter here refers to some sort of "deviation". Therefore, if we say that the movement ...
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Problem calculating inverse kinematics in a 4-DOF robot arm for drawing

I'm trying to do a robotic arm to draw a circle with 4-DOF, I'm using the Denavit-Hartenberg method (DH) to calculate the foward kinematics and the jacobian method to do the inverse kinematic. So ...
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In MuJoCo why do some XML files have objects fall to the ground while others are just fixed above the ground?

Why do some models, or objects in a MuJoCo XML script fall to the floor while others don't? In the models files that come with the MuJoCo zip, the robot arm (arm26) does not fall to the ground while ...
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Estimating distance between joint positions

I was wondering if there is any good way to estimate the difference between two joint states of a robotic arm. Currently I am using something like this: $\sqrt{\sum_i^N{(JStateA[i]-JStateB[i])^2}}$. ...
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Mobile robotic arm camera position

I'm working on my graduation project which is a mobile robotic arm that performs pick and place tasks. I wanted to know the possible ways to mount the camera where i can reach the desired destination ...
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Generate robot model for openrave

Is there another way to generate a collada model to work with openrave other than converting an URDF file with ROS' collada_urdf software? The problem I'm encountering is with the setup needed to use ...
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How to calculate holding and operating torque at the base?

Could anyone please help me with the formula to calculate the operating torque and holding torque at the base to rotate the structure on top of it as shown in image with white arrows? Thank you in ...
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What is the noise in this PWM signal?

I'm in the process of calibrating servos while constructing a new hobbyist robot arm. When testing the base rotation servo I noticed some unexpected noise in the PWM signal while the servo is in ...
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PID control for robotic manipulator servoing

I'm trying to enable robotic manipulator servoing using MoveIt servo implementation. However, I'm having some questions regarding reference following and error compensation. The thing is, I roughly ...
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How to calculate DH parameters for Higher Pair?

I am trying to build a robot which is having Bevel Gears connecting two links. I want to calculate DH parameters, but i am stuck with this bevel gear as when the joint rotates both angle and ...
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Quasi Direct Drive Actuator - Slot & Pole Combinations for High Torque Motor

I am building my own Quasi Direct Drive actuator and looking for information/ design guidelines for building a High Torque Motor similar to the MIT Mini Cheetah below. Specifically I cannot seem to ...
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how to solve inverse kinematic of 7-dof va1400 who has three offset configuration (shoulder elbow wrist)

va1400 kinematica model by Peter Corke MATLAB RVC-toolbox v9.10 ...
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Jacobian row of zeros. Why?

I have a Simulink model that has a standard Simulink block that determines the Jacobian for a given Rigid Body Tree model. The Rigid Body Tree model is a built in model of the Franka Emika Panda robot ...
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Servo Starts Oscillating Under Disturbance

I'm using MG996R servos to control a 6-axis desktop robot arm. When no disturbance (like a gentle push to the robot), the servos are fine and can hold their places. But under a gentle disturbance, ...
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Jacobian for transformation of rotation angles

It is known that with the help of the Jacobi matrix it is possible to transform the angular velocities of the drive links $\boldsymbol{\omega}$ into the angular velocity of the platform $\boldsymbol{\...
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Peter Corke Robotics Matlab toolbox Panda DH/MDH conventions confusion

I am new to this toolbox and DH parameters in general but I noticed that the Peter Corke Robotics Toolbox for Matlab originally contains a model of the Franka Emika Panda robot. This model was made ...
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Can inferences about servo torque or applied force be made by measuring servo current drain?

I'm working on a robot arm project for hobbyist / learning purposes. One of my DIY motivations is to be able to easily add additional sensors. I've been thinking about using ACS712 linear current ...
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How to correctly determine the θi Denavit-Hartenberg parameter for a SCARA manipulator?

I am using Tsai's Robot Analysis (The Mechanics of Serial and Parallel Manipulators) and I am working on deriving the homogeneous transformation matrices for the SCARA robot with the assigned frames ...
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Solution to Inverse Kinematics of a 6 DOF Articulated robot with a wrist joint

I'm working on getting a solution to the inverse kinematics of a 6DOF Articulated robot with a wrist joint. I derived the robot's forward kinematics firstly, using these angles $$θ_1 = 60.102$$ $$θ_2 =...
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Obtain a State Space System given Denavit-Hartenberg parameters and a Rigid Body Tree model in MATLAB

I'm confused regarding the representatoin of a 6 D.O.F. robot arm with multiple links. I have the denavit-Hartenberg parameters and have used these to create a Rigid Body Tree model in MATLAB. The ...
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How the motor commands are obtained from gcodes?

I have started my research with scara and cartesian robots for drawing robot. The gcodes are converted and given to robot. There are firmware like grbl, marlin, etc for this process. But I couldn't ...
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Forward/inverse kinematics and transformation matrices

I have found the homogeneous transformation matrix that can be used to determine the relation between the parent and child links of a robot. This matrix is shown below. $T_i = \left[\begin{array}{ c ...
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How to combine URDF files in pybullet?

I have a URDF file for the Kinova Gen3 robotic arm (6 dof) and a URDF file for a suction end effector that was built for a UR5 arm. I am able to load the file for the arm along with a table and some ...
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Omron Viper 850 Orientation out of range error

Good morning folks We have a Omron Viper 850 robot It is in inverted mount, i.e mounted upside down as you can see in the photo. We are using the ACE 4.3 Software to program the robot. I don't have ...
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Cartesian Stiffness Matrix and Complieance Matrix of Spherical Parallel Manipulator

In the article https://www.sciencedirect.com/science/article/abs/pii/S0094114X14000020, I came across the construction of a Cartesian stiffness matrix. On page 14 I see the components of the moments ...
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Any untethered artificial muscles available in the market? [closed]

Well, non-tethered artificial muscles are just artificial muscles that only need electric wiring in order to work; unlike pneumatic/hydraulic/vacuum actuators that need a external pump in order to ...
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Dynamic analysis of a robot pedestal

I have to design a robot pedestal for a research project.The robot I choose is kuka KR 6 R700 6.In the datasheet is said all the forces/moments in worst case scenario.I did some FEA for the structure ...
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