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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10 views

what kind of slewing bearing and gear(spur or helical) use in first axis(wrist) of arm robot?

I want to design an arm robot. for first joint motor is runoff the axis. I decide to use slewing bearing. in catalog there are bearing with spur gear. but I think because of backlash its accuracy is ...
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33 views

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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27 views

robotic arm 6 dof with 3 kg payload [closed]

we are building 6 DOF robotic arm with a 3 kg payload and i don't know how to select a motor for that i am thinking of using a servo motor but which to use is the problem
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80 views

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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34 views

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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20 views

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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1answer
35 views

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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2answers
17 views

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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1answer
22 views

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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1answer
48 views

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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37 views

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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1answer
29 views

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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16 views

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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50 views

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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33 views

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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61 views

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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1answer
35 views

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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85 views

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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26 views

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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56 views

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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73 views

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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23 views

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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1answer
35 views

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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111 views

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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74 views

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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1answer
37 views

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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14 views

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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35 views

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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1answer
55 views

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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34 views

How to connect to a kinova gen3 arm in gazebo through MATLAB and ROS?

I want to simulate a kinova gen3 arm in Gazebo through MATLAB and ROS. I am using a windows laptop which is running MATLAB natively, and I am running ROS and Gazebo via a virtual machine. I have ...
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49 views

Finding torque equation for my robotic arm

I am designing a 5 dof robotic arm, and for that I would like to find a torque equation. However, I am a little confused here: According to me the torque equation for M1 should be l2m2+l3m3+l4m4+l5m5 (...
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3answers
64 views

Best way to control a robot from an application

I developed an application that places itself just before controlling the robot (CAD/CAM like application) and now I want to control my robot directly within the application. Typically I have two ...
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Is possible this robot arm cut well around this plastic plate?

Good Afternoon. I am trying my best to put this Omron Viper 850 6-axis robot arm, to cut around some car plast plates. The Viper 850 robot is this: The car plastic plate that supposedly it to cut ...
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3answers
96 views

Servos jittering problem

So I started building this 3D printed Bluetooth robotic arm that can be controlled via MIT app inventor from HowToMechatronics.com. After connecting all the servos and running the code, the servos ...
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2answers
98 views

Is there a way to send commands to the Staubli CS9 from remote system via TCP/IP??(like ur_rtde, urx libraries for UR robots)

I am new to ROS development and Staubli robots. Though i have some prior knowledge on UR5e, I am finding it hard to understand the architecture of Staubli and its other programming interfaces (like ...
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31 views

Power pack and servo driver for robotic arm?

I have a robotic arm that uses about eight 7.4 volt volt high torque servos. (https://www.servocity.com/2000-series-dual-mode-servo-25-2/) I need to know what Kind of battery system I can use to power ...
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1answer
57 views

May I get this robot arm to be controlled via drawing, not programming?

I got an Omron Viper 850 robot arm with a spindle mounted with a cutter. It is controlled via EV+ programming (EV+ is a programming language used in the ACE Adept Omron software to move the robot). ...
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2answers
115 views

Why use timing belt drives in Stepper Driven Robotic Arm

This may be a noob question. I am sorry if it is but I am new to this field. I am working on a design of SCARA Robot and I am using Stepper Motors to drive it. In many youtube videos, I have seen that ...
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37 views

Robotic arm object/item pile relocation?

I am somewhat new to robotics. As such, I might be unaware of the correct terms or lingo that I need to use. I am trying to find relevant information on autonomous robotic arm operations specifically ...
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22 views

Optimization problem of the SPMs design

This article contains section 4. Optimization problem of the SPMs design https://www.sciencedirect.com/science/article/abs/pii/S0921889014001250 Tell me please, are there any special programs for ...
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1answer
50 views

Is higher jerk always better for reducing cycle time?

I'm interested in decreasing the cycle time (time to execute a given task) of a robotic arm. As in the title, are there any downsides to maximising the joint jerks of the robot? Naively, increasing ...
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1answer
98 views

How to use Jacobian Method for path following?

I am currently doing a personal project and get stuck in something as below. In this project, I am going to use the RRT algorithm on the ur5 robot to make it reach the target frame without any ...
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38 views

Are there any problems with this design?

https://www.reddit.com/r/robotics/comments/nbqx55/does_this_design_for_a_leg_make_sense_description/?utm_medium=android_app&utm_source=share So essentially I'm trying to make a leg that's able to ...
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1answer
44 views

Autonomous harvesting robots. What are model possible components and interactions for the entire system? [closed]

I found a video which talk about best autonomous robots that use IA technology to harvest crops. The video is very interesting because, the “ecosystem” of each robot varies a lot from company to ...
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2answers
61 views

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? --Edit I'm ...
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4answers
177 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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57 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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3answers
92 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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45 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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58 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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