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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3 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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40 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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31 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
17 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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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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31 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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2answers
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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34 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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54 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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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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64 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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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
34 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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73 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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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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36 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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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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33 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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46 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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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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48 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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63 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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85 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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75 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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30 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
56 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
101 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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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
90 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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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
43 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
57 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
136 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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43 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
82 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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43 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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47 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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84 views

6DOF kinematic robotic arm programm

I am trying to find a well documented library which I can use for my 6dof robotic arm (https://www.thingiverse.com/thing:1693444) But I cant find anything :( Does anyone have a python/c code for ...
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1answer
120 views

6DOF Kinematics moveo

I asked on stackoverflow for the DH-Parameter for my robotic arm (moveo bcn3d). I also copied the arduino code of Skyentific (YouTuber). Modified it to match my settings but i still does not work. Can ...
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1answer
73 views

Compute Maximum End Effector Velocity Along Path

Let's say I have a 2-link planar robot arm. The motors in both joints have maximum angular speeds that limit how fast they can spin. If I plan a path from point A to point B with a constant end ...
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1answer
69 views

Calculate Torques & Forces From Jacobian Matrix

Dear Robotics Stack Exchange, I am trying to calculate the torques and forces for a 2DOF robot. I’m used the partial differentiation method to find the Jacobian matrix. I managed to find the ...
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1answer
35 views

How to find Joint Angles or Theta for 7DoF Robotic Arm

I am trying to find the joint angles or at least theta to be used to find the Denavit-Hartenberg Parameter for a robotic arm (Baxter's right arm). I have the link lengths and such, but I don't know ...
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34 views

Difference between CHOMP and DRL

in terms of motion planning, what are the difference between gradient-based motion planning (for instance, CHOMP http://www.nathanratliff.com/thesis-research/chomp) and deep reinforcement learning? ...
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Deduce all possible configuration for a given CONF param FANUC

I am working on the "CONF" parameter of FANUC Robots. The "CONF" param determine the pose of the robot (maybe to have only one inverse kinematics solution). This configuration is ...
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1answer
38 views

Elegant way to mathematically relate joint positions (without a root/base joint) for easy re-rooting?

I'm pretty new to robotics, but have learned about the tranformation matrices and how to relate relationships between joints using transformation matrices. I just wonder if there is a system that ...

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