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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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Using OMRON Microscan Camera for both pick & place and Barcode Scanning

Is it possible to use a single, machine vision camera, to do both pick-and-place and barcode scanning? The workflow: parts would basically be lying out on a table, while the camera would be mounted ...
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Calculate the inertia matrix of complex robotic mechanism

Motor, irregular rigid body of Different materials Forming a single robotic. For example, Industrial robot, every geometric shape of the link is very complex. But we can find inertia matrix form CAD ...
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3answers
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Why my robot is lying down in gazebo simulator?

this is my first post about ROS and Gazebo also I am new in ROS. I spawn KUKA robot in Gazebo using urdf file from KUKA github repository following answer from this question I spawned my urdf file in ...
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1answer
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vision guided robotic arm always required 6d pose of object? [closed]

I have an object like attached in image. It is hanging vertical (its position may change but static object) and I want to grasp it using 6DOF Robotic arm. I am Using camera to detect object. I am ...
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How to add some more feature for this simulink model

After some research Robotic hand simulation in MatLab? After some motivation, I have tried to go inside Matlab Simulink and was able to do this :- https://drive.google.com/open?id=...
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How are shells for robotic arms made?

I wonder how the shells of robotic arms are usually made. By the shell, I mean this: This is taken from the project here, which is a University project. If the shells were injection moulded, how ...
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1answer
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What is the best adaptive controller for robotic arms?

I have a question that lays on practical experience. What is the best adaptive controller for a robotic arm? Self Tuning Regulator (STR) Model Reference Adaptive Controller (MARC) Adaptive Model ...
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2answers
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Finding correct RPY for approaching a known point on a plane

I have a robot with 6 DOF that I want to use to grab a hanging sheet at a specific point near its edge. The grip needs to be perpendicular to the edge and co-planar with the point of course. I have ...
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1answer
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Why my stepper motor doesn't move when I attach a blade?

I wanted to use the NEMA 17 stepper to drive a blade/flapper that I have custom made for some physical application.As soon as I tighten the screw,the motor stops rotation in the usual way. Don't have ...
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1answer
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3D Inverse Kinematics Jacobian Construction

I am following this article: Overview of Jacobian IK From the link, an example says: O is a pose vector which represents the initial orientation of every joint And following this, it gives an ...
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1answer
38 views

Gravity compensation

I am just getting curious about this gravity compensation technique. If we could compensate the force generated by the gravity (by feeding in the exact amount of force into the opposite direction), ...
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1answer
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Add control and planning trajectory to double pendulum [closed]

How do I control a double pendulum to get the end effector link to go in the trajectory shaped in a perfect circle? I have the equation of the circle to go in but I don't know how to get the double ...
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1answer
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how to plugin orientation of 6R robotic arm in inverse kinematics

I had all the DH parameters and calculated transformation matrix. From that I know the end-effector value position. But I don't understand how to integrate orientation.
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2answers
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What factors determine the number of joints in a robotic arm?

I am starting studying robotics from tomorrow. This is my first question to get started with robotics. Pardon me if this question is too naive. What factors determine the number of joints in a ...
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robot Hand Eye Calibration problem

I am trying to understand the implementations and the relative performance of various classical and new Hand-eye calibration approaches. Note: The following discussion assumes implementations are in ...
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2answers
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Robotic hand simulation in MatLab?

We are doing graduation project and require simulation of the robotic hand to be submitted. And we want to control various parameter in for movement for fingers of robotic hand. We tried it in other ...
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1answer
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How to limit large acceleration and jerk from PID controller?

I am trying to control a robotic arm with force input. The output of the force sensor is filtered, and fed through a PID controller to command the end-effector velocity. However, the robotic arm has ...
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2answers
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need help to get inverse kinematics

I have a 3 degree of freedom arm robot and by using D-H representation method get the forward kinematics but I can't derive the inverse kinematics can someone help me please ?
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5answers
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Is it correct to think of forward kinematics as merely a 'check' for the inverse kinematics?

When the only inputs to your robot are the next x,y,z coordinates of the next point on and on, I can simply just calculate IK to find the angles and make my actuators move to these angles. Whats the ...
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1answer
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Humanoid robot with Raspberry pi [closed]

I am in the midst of designing a humanoid robot, and I am very new at this technical stuff, but I have found servo motors which are capable of producing 500 kg.cm. Now I am looking at making a ...
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Defining C-space state for an arm in OMPL

I'm very new to Robotics, so please bear with my ignorance about the subject. That said, I'm trying to use Open Motion Planning Library (OMPL) to set up the configuration space for a robotic arm ...
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2answers
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how to control servo motor with potentiometer in arduino

I'm working on a robotic arm which uses 3x MG995 servo motors, 3x potentiometers (10k), and 1 Arduino Uno. I uploaded the code to the Arduino but the servo won't stop. I want to control it with the ...
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URScript - how to get the actual TCP pose in tool space coordinate system?

I am writing a simple script for universal robots UR10 robotic arm. I am trying to find a way to to see if the tool current position is outside of a 3D bounding box. the 3D bounding box is defined ...
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2answers
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How do I find the inverse kinematics of a 5-DOF manipulator having the following DH parameters?

alpha = [ -90, 0, 0, 90, 0] a = [ 0, 400, 200, 0, 0] d = [63.5, 0, 0, 90, 100] I am trying to calculate the joint angles but I am stuck ...
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Tracking object in realtime using depth image stream from a RGBD camera

I have an Intel RealSense camera which can stream RGB and depth image. Using those information I want to track an object moving on a table top. More specifically, I want to know position $(x,y)$ and ...
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1answer
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Controlling YuMi robot by serial port

I'm trying to control the YuMi robot arm by a serial port. The serial port will give the information on what direction the end-effector should move and what is the velocity. What I would like to ...
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1answer
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Trajectory following- What if the robot joint motor are not able to keep up with the generated trajectory?

I want my robot manipulator to follow a user-defined path. Based on the waypoints given as input and the velocity and acceleration limits of the joint motors, I generate a trajectory. At every time ...
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1answer
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Does the red object act as a fulcrum (as explained bellow) to make picking up easier?

In picture one I have shown a robot arm (green) rotating to pick up a box, using a fulcrum (red). The arm after rotating is shown with black rectangle. The vertical arm on the left is attached to the ...
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1answer
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Maximum value of norm of mass matrix M

How do I compute the maximum values for ||M(q)|| and ||M_dot(q)||, the induced 2-norms, where M(q) is the mass matrix from the standard dynamical model of a robotic manipulator. I have the numerical ...
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1answer
59 views

Path planning of wheeled robot [duplicate]

let's say the robot Looks like this (an usual robot arm with 4 wheels) : In this case as far as I know, the idea of path planning is just to compare the actual position x with the desired position ...
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1answer
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Pwm settings of a Sg90 servo motor

I use a TowerPro sg90. 1.5 ms for the centre position 0 degree, and 2 ms pulse for +90 degree and -90 degree with a 1ms pulse. But it's definitely not looking like it goes for 90 degree or -90 ...
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2answers
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Struggling to understand Jacobian Inverse Kinematics

I'm trying to find a method to control a moveo 5dof arm. My goal is to calculate the right angle to turn for each stepper motor to reach a desired point in real environment. I've spent time looking at ...
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Torque Disturbance Observer for Manipulator Arms

Is there a tutorial/guide apart from the research papers ( paper 1 and paper 2 ), for implementation of torque disturbance observers on multi-DOF robotic manipulators to determine sudden collision ...
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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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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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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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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
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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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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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1answer
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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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2answers
79 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
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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 ...