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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ROS2 Industrial on Physical Hardware
I'm trying to use ROS2 to control a Fanuc CRX25ia arm. Following the Industrial Training docs, I got it working in Melodic, which was the latest version of the fanuc driver, and was planning to port ...
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Mapping servo motor angles to 3d link angles
I have been programming for a 6DOF robot arm with forward and inverse kinematics functionality. The problem I am facing in my head is to how to correctly set different servo motor values to specific ...
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IMU frame transfer to body frame
I am just wondering how do we transfer IMU readings to Body frame? Especially, linear speed and acceleration.
In following diagram, the IMU is mounted on one of the surfaces of the body (you can ...
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Help with clarifying UR10e center of mass
I'm doing an assignment related to the Universal Robot UR10e robot for a robotics class. I have to use the center of mass of each link to solve the problem. I found the information on the link below (...
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Robot doing random jerks while moving using computeCartesianPath
I am following following tutorial MoveIt Tutorial. I am trying to generate waypoints and moving the arm through that.
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Automatic homing on cobots after a collision
I am in the midst of automating a mechanical process using a Dobot MG-400 cobot (in a lab setting, using a vision system to present a patient sample to a piece of sampling equipment). These arms are ...
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Best Robot for Simulation
Can you guys suggest me a Robot with 6 or 7 degree of Freedom which works well with Ros Humble for my Thesis. It will be only on a simulated environment.
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Moveit_servo with ur_modern_driver
I have been working on a UR10 (older version, thus using ur_modern_driver) for pick and place movements.
However for a specific case I want to change to smooth servoing towards an object based on ...
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HELP with inverse kinematics
i need help with solving the inverse kinematics for the following robotic arm https://www.sunrobotics.in/shop/9170-sunrobotics-aluminium-alloy-based-4dof-robotic-arm-diy-kit-arduino-based-open-source-...
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Three finger robotic arm history
I have a picture with robotic arm which comes from lego video (Lego Mindstorms Robotics Invention System 2.0 tour) and I was wondering when and where it was created.
Very interesting stuff. It was ...
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Small 6 Axis Force Torque Sensor
currently I need to install an suitable 6 Axis Force Torque Sensor on my Robotic arm. It has to be small beacause it will be mounted on this Robot: https://www.wlkata.com/en-de/pages/pg-mirobot-intro
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Simultaneous dual arm movement
I am attempting to plan and move two arms using moveit2 at the same time. I have setup a move group that contains both arms and am using the c++ move_group_interface to attempt to plan and execute for ...
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End effector velocity control of a 6-DOF robotic manipulator using MPC
I've been trying to utilize Model Predictive Control (MPC) scheme that I have for end-effector position reference $x(t)$ tracking control to build end-effector velocity reference $\dot{x}(t)$ tracking....
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Calibration of camera using ROS, without camera info
As part of a college project, I need to communicate with a TM5-700 robotic arm developed by Omron, and implement, for now, a pick and place pipeline. For that, I am required to access the camera ...
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Need advice on implementing ROS2 knowledge in a hardware-based autonomous robot project for navigation and object manipulation
I'm new to ROS2 and looking for guidance on implementing my knowledge in a project. I've learned concepts like publisher-subscriber, services, TF, URDF, RViz, Gazebo, and Navigation2. Now, I want to ...
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How to resolve singularity in six arm robot
I am using a six joint robotic arm (XArm 6). I would like to know what would be the best possible way to reduce singularities. I read that there are majorly three types of singularity for example
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Issues with cube stacking controller for Panda Robot using Behavior Trees and Task Space Control
I have been working on a controller for a Panda (Franka Emika) robot (simulation, RobotDART and py_trees) and i can't figure out why the gripping mechanism doesn't work correctly. Initially the robot ...
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Motion planning for non-serial chain robotic arms
I am trying to do position motion planning with inverse kinematics for the MeArm model.
I followed MoveIt tutorials and was able to achieve what I wanted with their provided robot example. However, I ...
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31
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Calculate target orientation
I have the following setup:
I want to move the "Drill" frame to "Target1" with the opposite Z axis direction. I have calculated translation between "Target1" and "...
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What gazebo plugins should I use for robotic arm in ROS2-humble? [closed]
Im using ROS2-humble
what plugins, interfaces. should i add, and why?
the urdf file:
...
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What is the right tem for automated arm for door open / close
I would like to make a wildlife feeder that would be something like this:
https://www.pinterest.com/pin/68746358372/
but I would want to have an arm / lever of some kind that would be able to open the ...
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Choosing the right BLDC motor and gearbox
I'm having a trouble understanding how to choose the right BLDC motor and gearbox combo for my final project of engineering school. here are the knowns I have gathered so far:
gearbox and motor combo ...
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Gazebo ignition (garden/fortress) attaching model to arm
I'm trying to attach a moving object with inertia to a robotic arm. I saw that there are plugins for detaching joints but is there a way to do the opposite and attach one model to another via a joint? ...
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How to get an axis in camera coordinate system pybullet?
I am using pybullet to render a robot simulation. This robot have 2 joints and hence, 2 corresponding axes of rotation. I know that when I use getJointInfo on this ...
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How to approach a target pose via the XY surface normal?
I'm trying to make my panda approach an aruco marker target on the table. However, I also want as a constraint that it does so perpendicular to the target. Given that a pose has an orientation ...
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How do you get the force acting from the first robot link on the second robot link knowing the forces and moments in the base of the robot?
Inverse dynamics (ID) is the concern of finding the required joint forces from a specification of the joint positions, velocities, and accelerations. In the figure bloew, the ID problem would be the ...
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114
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Objects slips from gripper during Gazebo simulation
I'm trying to simulate a simple scenario of pick and place for my UR5 ARM robot but i'm encoutering some problems during grasp. In particular, when grasping the gripper starts shaking untill the ...
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How to reduce the turbulence of a robotic arm, when it's end effector touches a surface?
I am working on a project related to tele-robotic ultrasound where I have to tele-operate a virtual UR5 robotic arm with a end-effector(a thin rod) through a haptic device in PyBullet. When I make the ...
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How to keep the orientation of end effector during movement in ROS Gazebo simulation
I am using Ubuntu 20.04, ROS NOETIC, Moveit to control a UR5 robotic arm in Gazebo simulation. I am trying to move a robot with a fixed orientation of its end-effector. The basic idea is to use the ...
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Dynamic model of a robotic arm
I have a question regarding the dynamic model of a robotic manipulator. It is commonly written as follows:
$$
\tau = M(q)\ddot{q} + C(q,\dot{q})\dot{q} + G(q) + J^\intercal F_{ext}
$$
From what I have ...
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DH Paramater and Kinematic diagram for 2DOF Cobot
Here is my robot model in moveit, I believe the kinematic diagram is not right. Can anyone tell me the correct DH parameter values for this robot model.
As far as I understand the values should be:
<...
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RViz cannot display robot arm until I enable show robot collision
I followed the tutorial to display a robot arm in RViz. However, Rviz displayed nothing until I enable the "show robot collision" feature in MotionPlanning-Scene Robot
Can anyone tell me how ...
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309
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From euler angles to rotation matrix and vice versa
I want to check if I am using the correct functions to transform from euler angles to rotation matrix and viceversa. I am using XY’Z” convention of euler intrinsic angles.
As example, I have the ...
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How to add gripper to UR5 arm?
I have UR5 arm without gripper I want to add gripper I have gripper urdf. Can anyone tell me how to add gripper what changes we need make in urdf ?
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Value expected to be a string, float, or int instead of an empty tuple
I've been trying to export a model from SolidWorks to URDF, I have made the necessary changes, as far as configuring the files. The model shows perfectly fine on MoveIt setup assistant and I generate ...
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Problem with Define Robot Poses (in Moveit Setup Assistant)
In this picture, I can use GUI to define any pose of robot. However, I can't drag the slider or enter a number in the box. What is my problem?
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How can I model a monorail robot in Webots by importing a Solidwork CAD model of robot?
I am new to Webots. I have not good idea about the considerations what should I consider when import a SolidWork CAD model to the Webots. I have a SolidWork model of robot. But I have not good idea to ...
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From Euler angles to Rotation matrix Staubli
I want to know the transformation matrix between End effector and Robot base (FK). Staubli gives me x,y,z and Rx,Ry,Rz. Those three Rotations are Euler angles? How could I transform those Euler angles ...
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How to control the position of a load shared between two (servo)motors?
I want to position-control an axis combining the action of two DC servomotors - one of them alone is not powerful enough; I had those available and preferred not to buy a new one.
I have not the ...
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How do I calculate reference trajectory for a robot following a parabolic path at a constant speed?
I have a 3 DOF robot arm and have been tasked with making it follow a path of $y=6-x^2$. Normally to compute the reference trajectory, I would simply create a linearly spaced vector of $x$ values and ...
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Cannot solve extrinsic matrix between camera and robot
I am triying to calibrate a RGB-D Realsense camera , with an eye in hand configuration. I have the following set-up:
I know the transformation matrix between base/ef and cam/obj. I want to solve ...
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Transformation matrix between base and end effector in Staubli
I have a Staubli TX2-140. I want to know if the controller gives the transformation matrix between base link and end effector in the actual robot arm configuration or if I have to calculate it. I ...
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Calculate extrinsic matrix in an eye in hand configuration
I have a RGB-D camera mounted in the end effector frame of a robotic arm. I know the intrinsic matrix, but I am a little bot confused in how to calculate extrinsic matrix. Is there any packages to do ...
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What Robot Type is depicted?
What type of robot is depicted in the below picture. I can rule out Cartesian as there is revolute joints.
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How are these equivalent rotation coordinates related?
I am using a 6 DOF UR5 robotic arm. I am successfully sending it commands in the [X,Y,Z,RX,RY,RZ] format. When I read back these coordinates, I find that the X, Y, Z values are the same but the RX, RY,...
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How to get ultra smooth BLDC velocity control (Netflix robotic project)
We've been working on this for quite some time, let me share what we have tried:
Multiple motors (skewed magnet, 24 pole, in-runner, outrunner)
Multiple encoders (14-bit optical, 40K CPR optical, 19-...
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Arduino robotic arm kit
I want to buy a cheap robot arm for control it with an Arduino. Do you know of a kit that has a good value for money? I don't care about the degrees of freedom it has (4, 5 or 6), and above all I'm ...
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I need help getting the DH parameters for a humanoid robotic arm with four revolute joint. Kindly ignore point Q4 in the image below
I'm new into robotics, and I've been trying to get the DH parameters of the robotic arm in the image below.
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hitbot Robot Z-Arm 922. Does anybody know hot to use the safety stop programmaticaly?
I'm currently programming a sequence in which the robot go and picks two plastic parts from a mold and places them y different positions in order to cut the surplus plastic from the molding process, I ...
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Calculate joint torques in 3 joint RRR mechanism
I don't know if I could upload these things here, but I want solve the following exercise:.
I undestand that I should use the following formula:
But, I have to solve every joint torque, so how could ...