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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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L2602 Mitsubishi error `DSTN-Pos exceeds the limit`

I try to move my robot in a certain area but every time I either get an error (while running a program) that say : L2602 DSTN-Pos exceeds the limit Or it just stops ...
Guest's user avatar
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Control axes with encoder or sensor

I want to move the axis using the encoder sensor readings, but when using the encoder my axis rotates suddenly and not gradually. i used arduino to send encoder data. i use this encoder and this ...
M.Syarief Rahman's user avatar
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14 views

What would be a good objective function to tune a PID controller in a 6 DOF robot manipulator?

As stated above, I am currently trying to tune the PID in a controller for a robot arm (the input of the plant is torque, and the output is its state). I first practiced with a single joint (1 DOF, a ...
Offel21's user avatar
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1 answer
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Separate ros2_control hardware interfaces for the joint's state and command interfaces

I have a 5 DoF manipulator, driven by K-tech CAN motors (controlled with raw CAN frames, by one CAN bus). Each of these motors has a built-in gear, an absolute single-loop encoder and an embedded ...
stanislawix's user avatar
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How should I optimize a PID in Webots correctly?

As stated above, I need to optimize the PID gains (the feedback) in the torque controller for trajectory tracking I am currently doing. This is what I have done until now: Begin simple, with just one ...
Offel21's user avatar
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Designing the kinematics and Dynamics of a spherical joint as 3 revolute Joint

I am working on a project where I am trying to mimic human like motion and for that I am designing a 7 DOF arm with the spherical joint in shoulder as 3R joints and 2R joints for elbow and 2R joint ...
Anshul Nayak's user avatar
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36 views

Issue with Real Time Arm Servoing on Franka Emika Panda Robot using MoveIt!

Description: I am a beginner in ROS 1 programming and I am encountering an issue that I hope to resolve with your assistance. I am attempting to implement Real Time Arm Servoing (Link) on my Franka ...
A.Tiwari's user avatar
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8 views

Sequence capability for Robotic Arm with OMPL and Move Group Python Interface

I'm using ROS Noetic and specifically MoveIt Move Group Python Interface to perform some movements with a robotic arm for palletizing purposes. In the environment, there are various static obstacles ...
Vasilis Tzikas's user avatar
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12 views

Node initialization blocks with rospy for UR5e Robot Arm

I am having trouble to remotely control the UR5e robot arm using code. I am using ROS Noetic and trying to run test_move.py present in Universal Robots' repository ...
Fernando-iTEAM's user avatar
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33 views

How does joint torque varies wrt joint velocities in Recursive Newton Euler algorithm?

I'm currently working on solving the inverse dynamics of a 6-axis articulated robot, similar to the UR5, using the recursive Newton-Euler algorithm. I'm very confused with the results I'm getting, as ...
Vishaal's user avatar
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2 answers
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Robotic arm falls on its own after spawning model in gazebo

I'm trying to make an environment for a simulation with a robotic arm (github repo of the 3 packages). Ubuntu 20 with ros foxy. This repo when running ...
M.K's user avatar
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Can't visualize pre-defined pose in RViz

quite new to ROS. I'm trying to program the trajectory for a 3DoF manipulator using MoveIt! I have been able to visualize it in RViz using MoveIt setup assistant and made sure to setup planning groups,...
Gerardo Del Cid's user avatar
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16 views

How to get a robot arm to follow the topography of a 3D mesh?

First time on here, really stuck with my project at the moment. I am looking to find out how to get a KUKA robot I am using to follow a path along the vertices of a mesh of a human that I have. I have ...
EnginJam's user avatar
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Can not communicate CS9 in ROS with staubli_val3_driver package

I am trying to implement a Staubli TX2-140 arm in ROS using staubli_val3_driver. I have copied val3 folder to the controller. When I open ros_server VAL3 app in teach pendant I have the following ...
Unai Granados Ormaetxea's user avatar
2 votes
1 answer
100 views

Mobile Manipulator: Is it possible to use the output state of an MPC position controller instead of the optimized control inputs (acceleration)?

Good day, I hope you are all well :) It's been 7 years since I've last been here haha. I am currently trying to implement this paper: https://www.mdpi.com/2077-0472/12/3/381 Their mobile manipulator ...
user123456098's user avatar
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1 answer
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Joint definition leads to No transform from [] to [base_link] on an arm robot

As stated, I am encountering this error when launching a ROS 2 simulation. I am currently using ROS 2 Iron and Gazebo Classic. I am spawning the robot system from a pythonlaunch file as it follows: <...
pdaranda661's user avatar
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1 answer
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How to give Moveit! local orientation goal to my end effector, but global position?

As the title says, how to give a local orientation to my end effector, but global position? Basically this would mimic the goal orb in RVIZ, where you can drag it around to give global position, but ...
Ezeuz's user avatar
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1 answer
48 views

Assistance downloading UR interface for Ros2 humble

Im getting an error for downloading the ur robot driver. its a line inside a c++ file causing the issue, i cant find the right command to use. Heres the error, please help! ...
Morgan Fabbricatore's user avatar
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1 answer
75 views

Trying to debug MyCobot 280 Pi communication

I recently purchased an Elephant Robotics myCobot 280 Pi 2023 model off of Amazon. The Pi boots up fine and I could log in with ssh/vnc using er:Elephant, so I haven't connected a keyboard, but do ...
Jadon's user avatar
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1 answer
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Link num type variable with aio Staubli

I want to link a num variable with a aio input variable I receive from ECAT. I am trying to do it in that way, but it does not work. Anyone who know how to do it in SRS? I have defined Vel_cmd and ...
Unai Granados Ormaetxea's user avatar
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0 answers
22 views

Unable to sample any valid states for goal tree after change of planning frame

I am trying to move the robotic arm by 1 cm from it's current value using following code , when I use planning frame as top I am getting an error while when I use it as world it plans and execute ...
Ankit Kumar's user avatar
0 votes
2 answers
149 views

Problem with arming power - Stäubli CS8 with RX60B - L

we are having a problem with setting up Stäubli CS8 controller with RX60B-L arm, our company bought the arm and controller several years ago, and only now we have an actual use for it and we are ...
Andrew's user avatar
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Moveit! - How do you set goal to one or two axis (not all) so that certain IKFast types can find a solution?

I have a little bit confusion regarding the orientation goal with respect to the IKTypes in IKFast. For example there is a solver for 4DOF arm: TranslationXAxisAngle4D, TranslationYAxisAngle4D, ...
Ezeuz's user avatar
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1 answer
70 views

Force transformation problem

I have the following set-up: I read force and torque values in sensor frame, but I want to transform the to tool frame. I have the following equation: where: This last matrix shoul be 6x6, but if I ...
Unai Granados Ormaetxea's user avatar
0 votes
2 answers
67 views

Robotic arm moves on loading inside Gazebo

I am trying to run the ros2_control_demo_example_7 package of ros2_control_demos with some modifications to spawn r6bot robot ...
Anubhav Singh's user avatar
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1 answer
50 views

How to work with a custom joint states topic which involves a robot namespace?

I am working with a robotic arm in simulation. I am using ros-noetic, gazebo and moveit for this purpose. I am using /robot_namespace as robot namespace, because of ...
Anubhav Singh's user avatar
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0 answers
46 views

ROS on ROBOT EPSON

Would you know if it is possible to control an EPSON robot with ROS, in order to get out of the dependence on the EPSON ecosystem. I'm a beginner looking for a solution, sorry if my question isn't ...
Yacine apprentice dev's user avatar
0 votes
1 answer
129 views

What should be the correct direction of X-axis assigned to a joint frame as per DH convention?

I am working on the kinematics diagram of a 6DOF Kuka KR210 serial manipulator. I am trying to assign frames to each joint as per the DH convention. I found a tutorial online where they are using DH ...
Anubhav Singh's user avatar
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35 views

gazebo is not lunaching moveit package

I have a ros noetic moveit package a robotic arm having demo_gazebo.launch file ...
Mubashir's user avatar
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1 answer
34 views

How to stop 6-axis robot motion by trigger?

I have my 6-axis robot. ros2 rolling c++ moveit::planning_interface::MoveGroupInterface move_group_interface After planning the path I use move_group_interface.execute(plan) to move robot. I'd like to ...
Kirill Partala's user avatar
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0 answers
23 views

How to publish sdf file in moveit2?

I am using ros2 humble with gazebo fortress. I want to publish a plannig scene(/planning scene world, not sure which topic)in the moveit2. I have a sdf file of the world which includes some objects, ...
Hem92j's user avatar
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2 votes
3 answers
217 views

How can I determine the necessary joint angles given the position of this UR-3 robot?

I'm trying to perform inverse kinematics on this robotic arm with 6 DoF. However, I'm not exactly sure how to start. I know a technique when the last three joints make up a spherical wrist, however, I'...
ARJ's user avatar
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0 votes
1 answer
95 views

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 ...
efoxara's user avatar
0 votes
1 answer
42 views

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 ...
persona's user avatar
0 votes
1 answer
124 views

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 ...
Nick X Tsui's user avatar
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0 answers
28 views

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 (...
ElbCox3's user avatar
0 votes
1 answer
40 views

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. ...
Ankit Kumar's user avatar
0 votes
0 answers
25 views

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 ...
Andrew Chastain's user avatar
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1 answer
54 views

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.
Kedar's user avatar
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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 ...
LucasMS's user avatar
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0 answers
34 views

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-...
white_fang's user avatar
0 votes
1 answer
44 views

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 ...
Paweł Chmolewski's user avatar
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20 views

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 ...
DomiBlack2k's user avatar
0 votes
2 answers
257 views

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 ...
Sebastian Pelletier's user avatar
1 vote
2 answers
99 views

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....
HOJUN LEE's user avatar
0 votes
1 answer
118 views

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 ...
noobcoder's user avatar
0 votes
2 answers
115 views

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 ...
Adyansh Gupta's user avatar
0 votes
1 answer
119 views

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 ...
Ankit Kumar's user avatar
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0 answers
26 views

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 ...
Μάριος Αδαμίδης's user avatar
0 votes
3 answers
115 views

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 ...
Ezzat Esam's user avatar

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