# 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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### Should the therotical parameters match the physical setup constraints when modeling a robot?

I'm working on modeling and simulation of robotic arm, after I obtained the mathematical model of the robot, I used that to implement some control techniques, to control the motion of the robot. The ...
1k views

### ROS MoveIt!, virtual joints, planar joints, prismatic joints

I do have a robotic application, where a 7Dof robot arm is mounted on a omnidirectional mobile platform. My overall goal is to get MoveIt! to calculate a sequence of joint movements, such that the ...
2k views

### Robotic arm ["FAiL"] error display. - Festo / Mitsubishi Melfa RV-2AJ (Controller CR1-571)

To avoid wasting your time on this question, you might only want to react on this if you have knowledge of industrial robotic arms specific. Common troubleshooting is unlikely to fix this problem or ...
578 views

### 4dof or 5dof robot arm with stepper motors tool-chain for an hobbyist

In the past I built some simple robot arms at home, using RC servo motors or stepper motors (till 3dof). I would like to build a new arm with 4dof or 5dof with the steppers. Until now I used Arduino ...
1k views

### velocity of the end-effector

The joint velocities are constant and equal to $\dot{\theta}_{2}$ = 1 and $\dot{\theta}_{1}$ = 1. How to Compute the velocity of the end-effector when $\theta_{2} =\pi/2$ and $\theta_{1} = \pi/6$
767 views

### Is there a simpler way than ROS for 5 DOF Dynamixel arm control

I will have a 5 or 6 DOF arm build with Dynamixel or HerculeX smart servos. I need to move the gripper along Cartesian trajectory, which I will calculate in my C++ application. I looked at ROS, but ...
876 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. ...
382 views

### Weave Weld Lincoln Electric Mig Robot

This is a simple question that I can't seem to find the answer for but when setting up the weave function how exactly does frequency (Hz) determine how fast it moves back and forth? In other words ...
3k views

### How to determine x-axis if the two z-axis are intersecting in Denavit Hartenberg representation

Suppose I have a 3 link(1 dimensional) chain in which all the joints are revolutes, the axis of first revolute joint is along Z-axis(global) and axis of second joint is along X-axis(global). The first ...
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### 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 ...
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 ...
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 ...
1k views

### Comparing industrial robot arms [closed]

I'd like to study the capabilities of industrial robot arms. For example, to answer the question how does price vary with precision, speed, reach and strength? Is there a database of industrial robot ...
687 views

### Degree of Freedom

A robotic arm should pick a cuboid up of a table, rotate it around its vertical axis and put it down on all possible positions. How many degrees of freedom are at least necessary? (All coordinates, ...
528 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 ...
136 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'...
3k views

### PID gains for motor position and velocity control

I have a servo motor with quad optical encoder and I'm trying to control its position and velocity. By controlling both I meant that if I input that the motor should reach 90° at 200rpm then it should....
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 ...
500 views

### Extend robotic arm with wrist rotation

I got an OWI Robotic arm, but was slightly disappointed at it having only horizontal position for gripper. What would be the easiest way to extend with gripper/wrist rotation, i.e. 6th degree of ...
1k views

### How to transform x y z coordinates to Tx Ty Tz?

I need to get coordinates of the specific points from 2D CAD file and transform them so that I could use them to move the robotic arm to those points. The problem is that I only get x y z coordinates ...
350 views

### Stewart platform as robotic wrist joint

I'm planning the design of a wrist for a humanoid robot. I would like to choose a design that is sturdy while allowing for dexterity comparable to a human wrist. One option that was presented to me ...
498 views

### Human arm inverse kinematics

Hi I want to implement an human arm robot and a task such as moving a glass between two points using Robotic Toolbox for Matlab by Peter Coorke. I'm a student and I'm a newbie in this kind of things ...
2k views

### ROBOTIC arm for playing chess [closed]

I wish to build a chess playing robot with robot arm as shown on youtube, can anyone please tell me which robot arm would suit my purpose and whether it can be bought second hand or alternatively ...
831 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 ...
2k views

### Mechanical design for base of robotic arm [closed]

I am using DC motors to build a robotic arm. I want to make the base shoulder (which rotates and lifts) more stable and stronger. How should I design this using DC motors? Also I would like to put ...
467 views

### Vacuum Lifter: Moving Playing Cards

I'd like to buy a small Vacuum Lifter so that I can move playing cards around with robotics. But my "google-fu" is failing me. I don't really know what search terms to look for... or what webpages to ...
173 views

### Arm to disassemble and assemble notebook at home?

Suppose I have perfect AI to control robotic arm. What characteristics should it fulfill to be able to take such common tools as screwdriver and linesman's and disassemble and then assemble ...
235 views

### Beginner question about software for calculations

I'm a complete beginner in robotics with background in programming... I started thinking about a robot project yesterday and want to order some motors to test with. I saw the specs for the motors, ...
343 views

### Can a Jacobian matrix be used to derive joint angles from end-effector linear and rotational velocity (without a filter)?

I have a 2-link, 2 degree of freedom robotic arm, that only measures linear acceleration at each link(through an accelerometer), and rotational velocity on each joint (through a gyroscope). I know ...
4k views

### How to implement PID control for robotic arm?

I'm wondering that, PID control is a linear control technique and the robot manipulator is a nonlinear system, so how it is possible to apply PID control, in this case. I found a paper named: PID ...
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 ...
771 views

### Building industrial-like robotic arm

I would like to build a 70cm articulated robotic arm (not a scara one) that can lift between 10kg and 15kg (10kg would be awesome already, this payload includes the weight of the arm+gripper) and ...
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 ...
404 views

### Programable Drone with robotic arm and hand?

I was just wondering if it was possible to buy or build a programmable drone with a robotic arm,hand, knife. I want to program a drone to harvest crops. -object recognition from live video stream to ...
357 views

### Jacobian for point on robotic arm

currently i am programming for a robotic simulation. I have a Endeffector which aproaches a target, on the way to the target is an Obstacle. Now i redirect my Endeffector, so that it does not hit the ...
67 views

### Is GMIS really a breakthrough? [closed]

The GMIS (General Machine Intelligence System) from a new article posted at codeproject.com looks interesting. Do you think that it could be a breakthrough in the field of robotics
279 views

### What is the technology used for no-resistance robot arms?

I saw a high end robot arm once that I could move and bend it to any form I wanted with no resistance, as if the robot arm didn't have any weight. I'd like to know more about them. What is this class ...
119 views

### How to select the parameters of the Sliding Mode Control of a Robotic Arm?

I working on sliding mode control (SMC) of a 4 DoF manipulator, I don't know how to select the discontinuity gain matrix, $K$ , the surface constant (the diagonal gain matrix $\Lambda$ components).
887 views

### algorithm Simple Stereo Vision

I'm working in a project implementing a vision system. I'm a student and this is the first time I'm doing something like this, it has been a challenge. I'm using a controller (Netduino+2, .Net ...
1k views

### joint positions of a robot

I would likte to find the joints positions using joint angles, link lengths etc. How can I define the position of the each joint using DH parameters?
5k views

### How do I work out the kinematic solution of a robot arm?

I draw a robotic arm in Solidworks, but I'm not so sure about how to find out the DOF, forward and backward kinematic. Could anyone help me understand how to work out the kinematic solution of this ...
570 views

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### How to calculate the center of mass Jacobian matrix of a robot arm

I have a 4-DOF robot arm system with 4 revolute joints arranged in an open-chain fashion like below: Assume that each link’s mass is a point mass located at p_i and each link’s center of mass is ...
239 views

### How to know what type of stepper motors to use when designing a robot [closed]

I am talking about robots like this one: http://www.meccanotec.com/step781b.JPG How would a person know what type of motor to use in design of such a robot? What I want to understand is that stepper ...
159 views

### What equipment has been used to design this robot

Look at this robot here http://www.meccanotec.com/step781b.JPG I can see rods which have a lot of holes and planes which also have holes. This seems to be a way to create flexibility in how the things ...
247 views

### Why I'm getting very long terms in the inertia matrix (or dynamics model) of the robot using matlab script?

I'm working on the dynamics model of a RRRR articulated robot, I'm following Euler-Lagrange approach and developing my code in m-file in matlab; I'm looking for dynamic model of this form:  D(q) \...
326 views

### How feasible is the idea of operating a robotic arm in a non-sophisticated way?

I and my team have to design a robot using an arduino chip. The objective of the robot is to grab golf balls at a set of golf pins at different heights and pre-defined locations. We couldn't figure ...
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### 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 ...