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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29
votes
5answers
59k views

Which type of actuator will be suitable for a very strong robot arm?

I wish to build a robotic arm that can lift a useful amount of weight (such as 3-6 kg on an arm that can extend to approx 1.25 meters). What actuators are available to accomplish this? The main ...
6
votes
3answers
13k views

Hand Eye Calibration

I'm trying to use a dual quaternion Hand Eye Calibration Algorithm Header and Implementation, and I'm getting values that are way off. I'm using a robot arm and an optical tracker, aka camera, plus a ...
20
votes
3answers
12k views

How can the inverse kinematics problem be solved?

The forward kinematics of a robot arm can be solved easily. We can represent each joint using Denavit–Hartenberg transformation matrices. For example, if the $i^{th}$ joint is a linear actuator, it ...
4
votes
2answers
620 views

Evaluating the similarity of two 7 Degree of Freedom Arms

I am working on the Baxter robot where I have a first arm configuration and a bunch of other arm configurations, where I want to find the closest arm configuration to the first among the many other ...
3
votes
3answers
4k views

jacobian of Abb irb140 robot

Can someone please help me with the jacobian matrix equations for Abb irb140 robot. Or an easy way by which I can derive it given the DH parameters. I need it to implement some form of control that am ...
9
votes
2answers
3k views

Why do we generally prefer DH parameters over other kinematic representations of robot arms?

I am specifically interested in DH parameters versus other representations in terms of kinematic calibration. The best (clearest) source of information I could find on kinematic calibration is in the ...
5
votes
4answers
3k views

Dynamic torque simulation for a 6 DOF robotic arm

I am working on a 6 DOF robotic arm(industrial manipulator). I have the basic structural specs (dimensions, weights etc) for the links and joints with me. Basically, I want to simulate both static ...
4
votes
1answer
709 views

inverse kinematics for 6 jointed robots

I am a uncertain about how to compute the right homogeneous transformation matrix to compute an inverse kinematic Q-configuration. Looking at robot like this Where at the end of this robot I have ...
4
votes
3answers
5k views

KUKA Robotics API IDE

I've got Robotics API library, a demo program and a robot. I want to develop an app for it. The best solution is offline development on some kind of simulator. I'm completely new in such tasks - is ...
0
votes
1answer
134 views

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 ...
7
votes
2answers
3k views

Solving Inverse Kinematics with Gradient Descent

I am trying to implement my own inverse kinematics solver for a robot arm. My solution is a standard iterative one, where at each step, I compute the Jacobian and the pseudo-inverse Jacobian, then ...
1
vote
2answers
3k views

How to find the body jacobain, for each link in a robot manipulator?

The links twist could be obtained, and thus The spatial manipulator Jacobian could be done, but when it comes to the body Jacobian, it is becomes difficult. Moreover, the adjoint transformation ...
5
votes
3answers
2k views

Generate transformation matrices for rotating around a object?

How do i compute all transformation matrices which places a robot endeffector at the shell of this sphere, with the end effector pointing toward the object in the center. I know at all time how far ...
5
votes
1answer
7k views

Create a simple C++ client Application to control KUKA's Robot-arm LBR iiwa via FRI

Until now I have been programming the robot using Java on KUKA's IDE "KUKA Sunrise.Workbench", what I want to do is control the robot arm via my C++.Net application (I would use a camera or Kinect to ...
9
votes
4answers
2k views

Implementing a torque-controlled method on a position-controlled robot

I am working with a position-controlled manipulator. However, I want to implement a torque-controlled method on this robot. Is there any way to convert a torque command to a position command? I try ...
9
votes
1answer
4k views

Building Robotic arm joint

I am very new to robotic design and I need to determine what parts I will need to assemble an arm joint. The joint will contain one timing belt pulley which a remote motor will be turning, a forearm ...
6
votes
3answers
13k views

Stereo camera Vs Kinect

Any one can advice me on the ideal perception sensors for pick and place application using a robotic manipulator with ROS support. I have generally looked at things like Kinect and stereo cameras (...
5
votes
2answers
4k views

Designing a 5 bar linkage robot: Plot Clock

I am a beginner at robotics. I recently stumbled across this robotic clock on youtube. I am an electrical engineering student and am interested in submitting it as my minor project. I have studied ...
4
votes
2answers
859 views

Robot arm reachability of a pose in Cartesian space

Given a set of robot joint angles (i.e. 7DoF) $\textbf{q} = [q_1, ... , q_n]$ one can calculate the resulting end-effector pose (denoted as $\textbf{x}_\text{EEF}$), using the foward kinematic map. ...
4
votes
1answer
206 views

How to render a robotic arm in Unity?

As part of a research project, I'm creating synthetic data, using the Unity engine. I have the final pose of a robotic arm (6 params: 3 for orientation, 3 for location/position), and also a .ply file ...
3
votes
1answer
808 views

Choice of a motor for robotic arm

This is my first post here, so hello all. I really hope I can learn a lot from you guys. I am trying to build a robotic arm to carry an object and put it inside of different boxes that are placed in ...
1
vote
1answer
562 views

How to construct rotary turn table (S/J1 axis) from ball bearing? [closed]

For my robotics arm project I have recently come across the following ball bearing at low discount price which I think could make a great rotary table for my arm. However it does not seem to have any ...
-1
votes
1answer
525 views

Object Grasping Robot Arm Control [closed]

I have a 2 DOF Robot Arm with a camera attached to it. It takes an Image and there's an object in that image, say a glass. Of course, in order to move the arm to the required position to grasp the ...
8
votes
2answers
892 views

Getting started with robotic arm design

I would like to design a robotic arm to hold a weight X at length Y (in my case I want to hold X=2.5 lbs at Y = 4 inches). Starting out simply, I would like try building an arm with a gripper plus one ...
4
votes
2answers
895 views

Software to control an Arduino setup with a timing belt and stepper motors

I would like to know what software is available to control a timing belt with stepper motors for arduino board.Much like how its done in 3d printing. But in this case i wont be making a 3d printer....
3
votes
3answers
2k views

VeX - Keeping arm at an angle

So my team made a Vex robot for the toss-up competition, but we need the arm up during the autonomous. The problem is that it's too heavy to stay up on its own. I was going to use encoders to count ...
3
votes
1answer
1k views

Solving Inverse Kinematics with Non-Linear Least Squares

I want to write my own inverse kinematics solver, and I have been recommended to use Google's Ceres Solver to help. Now, according to the documentation, Ceres Solver is usually used for non-linear ...
3
votes
3answers
2k views

How high of a gear ratio can a motor have?

I want to make a robot arm where a joint is powerful enough to lift 8 kg up at a distance of 1 meter. This requires torque $tau = r*F = r*m*g$ = about 80 nm. So now I am trying to find the ...
2
votes
2answers
898 views

3-RRP manipulator robot

I'm having some issues with a planar manipulator I have to deal with. The first two moves are rotational and the third one is a prismatic one. The shoulder and elbow move around the X-axis, while the ...
2
votes
1answer
597 views

Capacitive touch input robot to remote access iPad

I'd like to buy a capacitive touch input robot in order to remote access my iPad but I'm having trouble describing a correct kind of robot. I would like to keep lag down to an additional 60ms so ...
2
votes
1answer
350 views

Flipping an old manual switch (physical one) [duplicate]

I Have an old audio amplifier that has those switches to turn it on. I'm looking for the simplest motor/robotic arm (or any other relevant component) to control this switch - eventually via Raspberry ...
2
votes
1answer
5k views

Design and construction of universal robotic arm (5kg, 1m)

i am working on my master's thesis about design and construction of universal robotic arm. Goal of my work is to design 5 DOF robotic arm. Something like on the picture: I need it to be able to ...
2
votes
1answer
1k views

UR3 TCP/IP communication protocol

I'm currently programming a C socket for communicating via (Ethernet) TCP/IP with an UR3 robot which control software is version 3.3. I'm able to get raw data from the ports 30001,30002, and 30003. I ...
2
votes
1answer
5k views

Type of servo and torque calculation required for a 2axis robot arm

I am trying to build a 2-axis robot arm with pan and tilt mechanism. The gripper/holder will hold an object weighing 300 grams. The total weight of the arm including the motors will be around 2 kg. I ...
2
votes
1answer
506 views

KUKA delimiter .NET

I have a chance to develop a user interface program that lets the user control a KUKA robot from a computer. I know how to program stuff with the KUKA utilities, like OrangeEdit, but I don't know how ...
2
votes
1answer
167 views

How to prioritize target position over target angle in Inverse Kinematics?

I have succesfully gotten my inverse kinematics method working using damped least squares and it has some really good results. My target position also includes a target angle for the end effector, ...
2
votes
1answer
537 views

Optimization of link lengths for 3R serial manipulator

I am trying to formulate an optimization problem for determining link lengths of 3R manipulator shown in picture below, Following are the constraints, Robot arm should be reachable at point x = 100, ...
2
votes
2answers
394 views

How do you arrange the dof in a robotic arm?

I'm designing an arm that can manipulate objects on a table. My question is about the arrangement of the degrees of freedom. Different robots seem do have different arrangements of the degrees of ...
1
vote
1answer
49 views

Non-planar robot Dynamics error using Roy Featherstone's Spatial toolbox

I am using this code to test robot dynamics of above robot using Spatial Toolbox function: FDab(rob, [0;0;0], [0;0;0], [0;0;0]) %a_grav = [0,0,-9.81] But it ...
1
vote
1answer
65 views

Dexterity calculation with dual quaternions

How can the manipulability of a robot arm be calculated when the kinematics are described with screw theory such as dual quaternions? These methods are sigularity-free, but what could we say about ...
0
votes
1answer
170 views

Relative orientation of two robots

Given two robot arms with TCP (Tool Center Point) coordinates in the world frame is: $X_1 = [1, 1, 1, \pi/2, \pi/2, -\pi/2]$ and $X_2 = [2, 1, 1, 0, -\pi/2, 0]$ The base of the robots is at: $...
0
votes
1answer
631 views

What is the wire used for hand movement of robot called ? where can I find it online ?

I am looking for a specific name of the wire used for the robotic arm movement control and where can I find some of this online. I want to control it using the micro controller so please suggest some ...
0
votes
1answer
172 views

Resolved Motion Rate Control, Rotational Part

I'm controlling 6 DOF robot arm based on image processing. Robot arm will grab the object. Below what my system looks I can control the translational part of robot very well. But i cant control the ...
-1
votes
1answer
133 views

How do I control the robotic arm motion? [closed]

I have a Robotic arm mounted on a car. There's a camera attached to it. Suppose the camera takes the image of a room, and finds that there's something, say an object, that has to be picked up. Say it'...
-2
votes
2answers
180 views

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 ...