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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1answer
148 views

Torque calculation for a shaft end effector

I would like to calculate the max torque and the rpm to select the right motor. the application does not require a very fast rotation speed (rpm) however it should be accurately controlled. I ...
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1answer
31 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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0answers
16 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
196 views

Controlling Actuated Robot Hand in Underactuated Manner

We have an allegro hand in our robot, and it is in actuated behavior. In other words, each joint is controlled one or more than one actuator, that is motor. There are 3 actuators for each finger, ...
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2answers
340 views

Tool calibration- orientation

I'm currently working on calibration of robot tool. I have found some simple methods to get the tool centre point. But I'm sure how to get the tool orientation wrt the robot's tip (the point where the ...
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2answers
442 views

Testing and Lifespan of Industrial Robots?

How does one go about testing the robot once it is built? How does one predict the number of hours it can operate? I see most of the industrial robots for instance robotic arms have warranty of 12-18 ...
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1answer
49 views

Interpret 560 byte msg from UR5 firmware 1.8 through TCP socket

I am trying to use the UR5 from my computer without having to write any script on the robot. For that, I opened a TCP socket as a client from my computer (in a C program), and the robot indeed does ...
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2answers
1k views

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
50 views

digital servo won't seek to angle if delta between current position and target is more than ~15 degrees

My students and I are using a Hiwonder LD-220MG digital servo to position a "shoulder" on a robot. We are seeing a behavior (on every one of these servos that we test) that it won't go ...
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1answer
1k views

Poor accuracy of hand eye calibration when using vanilla Tsai's method

I’m working on the hand eye calibration for the robotic arm. I attached the camera near the tip of the robot (or end effector) and took around 40 pictures of an asymmetric circles pattern. I ...
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1answer
57 views

Design optimization method using indices

There are several methods like manipulability and conditioning index for design optimization kinematics performance, but these methods rely on the singular values of the jacobian matrix. I described ...
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2answers
1k views

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
170 views

Robotic Manipulator 3-RRP v2

I recently asked a question about a 3-RRP manipulator but the only answer didn't work for my robot. I would describe the manipulator as an arm that rotates around the shoulder over the x-y axis, the ...
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2answers
72 views

Calculation of error, based on camera images

I am trying to measure the precision error of a gripper that is mounted to the flange of a 6 DOF industrial robot. The gripper-design is rather complex, therefore we would like to make sure it is ...
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1answer
84 views

How to calculate potential enegy of manipulator?

I'm trying to obtain dynamics of a 4 DOF robot. Firstly, I calculated all Transformation matrices and Jacobians. While solving Lagrangian there is two main things one is kinetic energy and the other ...
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1answer
37 views

Reducing stress on servo axle

I am designing an articulated robot arm that will not need to hold essentially any weight at its end, but that will need to perform thousands of repetitions (currently using MG 996R servos, but might ...
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1answer
61 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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3answers
369 views

Robotic arm servo motor- Not enough torque

I require your help regarding a problem I’m encountering. I am a beginner in robot modelling. I am designing a robotic arm for agricultural use and I am having issues with the motors. I am using ...
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0answers
22 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
42 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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3answers
79 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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1answer
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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1answer
105 views

Robot arm with steppers - speed

I am using a 5 axis Robot arm (Robolink robot from Igus) to perform some 3D printing routines. By now I am trying to use them and have him have some good position (and speed) control. The robot is ...
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0answers
13 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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1answer
295 views

UR5 Visual servoing(image based, eye in hand)

I am implementing IBVS on a UR5 using ROS. The algorithm works very well in linear X, Y and Z and omega Y. When I try to add a fifth axis(omega X or Omega Z), the robot jerks heavily and goes into ...
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1answer
80 views

Scara chess robot design for 3d printing

I have two question regarding a Chess robot. I want to build a Scara robot that could play chess on a 37 x 37 cm chess board, but I couldn't find any design that can cover the whole chess board and ...
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0answers
31 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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0answers
42 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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0answers
18 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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3answers
61 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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0answers
20 views

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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2answers
53 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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3answers
71 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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1answer
55 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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0answers
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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2answers
88 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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1answer
216 views

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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0answers
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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1answer
123 views

Jacobian of a planar manipulator with 4 links

I have a mobile manipulator that moves on the plane. The base moves in SE(2) and the manipulator is also planar with 4 links. The mobile base will be a differential drive robot and its motion is ...
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2answers
55 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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1answer
49 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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0answers
21 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
80 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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0answers
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
42 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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4answers
111 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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1answer
798 views

Determine the configuration space for a robotic arm

I'm working with a 4DOF Parallel-Mechanism arm. I'm interested in writing planners for this arm (PRM or RRT) in the configuration space, but I'm not sure how to identify obstacles/collisions. When ...
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0answers
41 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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1answer
90 views

Verifying DH parameters. Unexpected Output

There is a rotating base joint #1 with z/joint axis pointing up and atop sits and arm with 3 z/joint axis facing away from the viewer. The elbow joint F2 has a kink before it of 90 degrees measuring ...
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0answers
42 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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