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
85 views

I am doing a project on robotic surgeries! Can anyone help me and give me some details related to this topic? [closed]

Can anyone help me, because I am doing a project on robotical surgeries and I would like someone to help me and advise me. I wonder if anyone could give me some data on tests he or she has run in a ...
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2answers
2k views

What is the best software/package to draw the robot manipulator and indicate DH parameters and different axes?

I'm wondering about good software/package to draw the robot manipulator and indicate DH parameters and different axes? Any suggestions!
2
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1answer
2k views

How to get the 4*4 matrix from the twist using product of exponentials, in robot kinematics?

In robot kinematics, we have $e^{(\theta*twist)}$, where $twist$ is 6*1 vector. How do I get the 4 by 4 transformation matrix by using product of exponentials?
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2answers
1k views

Denavit-Hartenberg convention or the product of exponentials formulation, when dealing with the manipulator kinematics?

Though, Denavit-Hartenberg notation is commonly used to describe the kinematics of robot manipulator, some researcher prefer the product of exponential instead; and even the claim that it's better. ...
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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 (...
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2answers
3k views

What type of servos are used in industrial robot arms like Universal Robot UR5?

I've noticed that the industrial robot arms have very smooth, fast, and strong movement. Does anyone know what type of servos they use. I'm trying to build my own and don't want to have the jerky ...
0
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1answer
69 views

Relative frame calculation

what's the quickest way to calculate a relative coordinate of a frame, as shown in the code below. The Kuka robot language this ":" is referred to as the geometric operator. I would like to perform ...
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3answers
185 views

Questions on gears for a robot actuator [closed]

I have some questions regarding building a gearbox for a motor to create a robot actuator. Given my desired motor and loads, I've determined that a gear ratio in the 400-700 range is adequate for my ...
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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
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3answers
3k views

redundant arm path planning and trajectory following

I have a 7dof robotic arm and a set of end effector trajectories in cartesian space I need it to follow. How do I deal with the redundancy in the arm when planning to follow these trajectories both ...
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1answer
173 views

Simulator for an adaptive, under-actuated robotic gripper

I am looking to build an adaptable robotic arm with under-actuated three (or four) fingered hands. Before I start shelling out money, I want to test my prototypes in a simulator which would ideally ...
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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 ...
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1answer
1k views

Connecting multiple servos to a robotic arm

I am computer programmer and it's really been long since I have done electronics. I need help on connecting my servos to an Arduino to power my robotic arm. This is the robotic arm that I am trying to ...
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1answer
88 views

Robot to manipulate poultry

I am a software engineer and also a poultry farmer. I periodically have to manipulate my poultry in such a way as to grab their head and hold them for a brief period, approximately 10 - 30 seconds. ...
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1answer
125 views

Is there build your own garage robotic assembly lines out there? [closed]

I am new to robotics, and would like to build a smaller robotic arm than in manufacturing facilities. I want a small robotic material handlers that can pick up or handle small objects around 12"x12"...
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1answer
731 views

How do I get this transformation matrix?

I've just started taking a robotics course and I am having a little problem. I need to rotate the $O_i-1$ coordinate system into a position, where $X_i-1$ will be parallel with $X_i$. The ...
4
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1answer
572 views

How to get pure end-effector translation through Jacobian?

I have a 7 DOF arm that I am controlling with joint velocities computed from the Jacobian in the standard way. For example: $$ {\Large J} = \begin{bmatrix} J_P \\J_O \end{bmatrix} $$ $$ J^{\dagger} = ...
5
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2answers
1k views

Natural frequency computation (for PID gains computations)

I am currently trying to parametrize the low-level gains of a robotic arm. This arm uses a classical PID for each joint. I am trying to use a method based on computation rather than a trial-and-error/...
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2answers
694 views

Determing limits of rotation in a robot workspace

How to determine the limit range of end effector orientation (Roll-Pitch-Yaw) at one specific point(XYZ)?I had derived Forward/Inverse kinematic. I'm making a program for 6DOF articulated robot arm so ...
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0answers
1k views

How to calculate robot hand positions using Roll, Pitch angles

i want to calculate humanoid robot hand position with given shoulder roll, pitch angles and elbow roll angle. I'm able to calculate elbow position using rotation matrix which includes shoulder angles....
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1answer
77 views

Making a Gripper Changer for a Robotic Arm [closed]

How do you make a gripper changer for a robotic arm like this? I don't see how you could connect power/control wires or what you use to hold the gripper to the arm.
2
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1answer
95 views

Path comparison

Problem: the cartesian position of an end effector (no orientation) of a robot arm is recorded, say, every millisecond (the time steps can not be changed), during a motion. The robot arm is commanded ...
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0answers
281 views

Installing OpenNI on Pcduino

Following my previous question about pcduino+kinect, decided to go ahead and buy the pcduino I wish to run my robot with (kinect+pcduino+shields). However I'm having trouble getting started: I tried ...
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2answers
87 views

What is the actual application for manufactuing, with robot arm autonomous object classification system

I’m a graduate student, and we're doing a project that is going to introduce a robot arm into manufacturing. Our goal is to build up an autonomous object classification system. We already have the ...
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1answer
439 views

6 DOF Robotic Arm [closed]

We are building a 6 DOF robotic arm as a college project and we've almost finished the designs. The problem is with the controls. We still havent thought on how to control the arm, as in , software ...
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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 ...
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2answers
690 views

Industrial Robotic Arm

I had the opportunity to work for a factory/company that is in the domain space of production and they want to use a robotic arm for part of the production line. They want basically a robotic arm ...
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2answers
176 views

What parts do I need for a strong robotic arm? [closed]

https://www.youtube.com/watch?v=MPhhYlIq294 I have found this robotic arm on the internet, and I was wondering if someone can tell me what parts I need to build it or similar. The video says it can ...
6
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1answer
3k views

What are some good cheap, silent, motors for mannequin robots and what kind of controller should I use? [closed]

What are some good cheap, silent, motors for mannequin robots and what kind of controller should I use? I'm creating mannequin robots that require 24 motors: 2 neck, 4 shoulder, 2 elbow, 4 wrist, 2 ...
2
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1answer
69 views

How long can a VEX pneumatic arm be?

How long can a vex pneumatic piston be?
6
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2answers
795 views

SCARA Arm Lead Screw Choices

I'm thinking about building a SCARA Arm to lift moderate loads(5lbs) with a high degree of accuracy. I want a relatively quick and inexpensive Z axis gantry, and I was thinking about using a lead ...
2
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2answers
235 views

How does one calculate the angular motion of each node in a robotic arm

A robotic usually consists of joints with sections of possibly varying width connected together. Considering we know how much each is bent and the length of each section, and their location in 3D ...
2
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3answers
8k views

How to decide about the length of a robotic arm, the base of it and the torque?

I am designing a remote controlled robot which will have a base with three wheels, two of them will be simple wheels at the back of the base and the third will be a ball wheel at the front. It will ...
4
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1answer
878 views

Compliance control for a single link robot in matlab

What exactly is active compliance control in robotics joint? Why Is it used ? How can I write a program to simulate the compliance control in matlab for a single robotic link or single robotic joint ...
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1answer
70 views

Wine yard robotics? [closed]

My friend has acquired a (small) wine yard to discover how much work it is tending and harvesting the grapes. Now we are musing to enlist robotic help. The vine stocks are usually connected by a ...
2
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1answer
609 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 ...
3
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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 ...
2
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1answer
358 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 ...
5
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2answers
981 views

Udoo board + Kinect sensor?

I am wondering if it would be possible to get Kinect to work with Udoo board (Quad). I have found that there is now support for ROS + Udoo. Also saw a question asked about Xtion + Udoo which shows ...
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3answers
1k views

Algebraic and geometric in inverse kinematic

I'm just wondering that is there any case that when algebraic way can't solve the problem while the geometric can ? Cause I'm working on a 2DOF robotics arm This one, I know the length of L1 and L2, ...
4
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1answer
150 views

Defining frames for 5DOF robotics arm

For examples if i have this robotic arm: Example, for the base rotation (5th DOF in the clip at 0:58), we know that the Z axis for that joint will be the same as the Z axis for the base frame{0}, but ...
6
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1answer
289 views

Using Armatures in Morse Robotic Simulator

I'm trying to add my own robot in Morse 1.1 (using Ubuntu 12.04). I am struggling to add an armature actuator and armature pose sensor to an existing robot. Can someone please explain how this can be ...
3
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0answers
326 views

Recommendations for system to repeatedly force contact between head and desk [closed]

I frequently bang my head on my desk after performing a task poorly. I would like to eliminate the unnecessary middle step of actually performing a task poorly. As such, I would like to design a ...
7
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3answers
711 views

Is there a way to determine which degrees of freedom are lost in a robot at a singularity position by looking at the jacobian?

For a 6DoF robot with all revolute joints the Jacobian is given by: $$ \mathbf{J} = \begin{bmatrix} \hat{z_0} \times (\vec{o_6}-\vec{o_0}) & \ldots & \hat{z_5} \times (\vec{o_6}-\vec{o_5})\\ \...
3
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0answers
113 views

May I have some suggestion on inexpensive robotic arm? [closed]

I want to build some simple application. I need a 5 or 6 degrees of freedom robotic arm. The arm must have feedback, so that I can control it preciously. The arm must be able to handle at least 5 lbs. ...
2
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1answer
1k views

Effective motor type for robotic arm?

I am trying to build an arm that will have about 5 by 5 by maybe 7 or so centimeters of room for a rotary motor capable of lifting it. The joint will basically allow the arm to rotate in a single ...
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2answers
2k views

How to speed up robotic arm?

I need my robotic arm to ring a desk bell. I one on the maplins site usb robotic arm. It does seem very slow. What can I hack on it to boost the downwards and upwards speed. I need it hit the bell ...
2
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0answers
609 views

Making a robotic arm that can draw a circle [closed]

I am software engineering student and don't know much about hardware. I recently have started a project in my AI course. The project is playing a 3x3 tic-tac-toe game between computer and a human. ...
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1answer
512 views

What is the best way to go about building a robot hand that can type on keyboard, move &click mouse, swipe touchscreens? [closed]

How would you go about building a robot that can use a computer? Type on the keyboard, move & click mouse? I am talking about physically manipulating the hardware inputs, and the robot would be ...
3
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2answers
562 views

Issues upgrading Arduino code for Kinect controlled arm from 2 servos to 4

I have arduino code for operating 2 servos, but we are using 4 servos and am having trouble getting the other 2 to talk. The program so far as I can make out is that the angles for the servos that ...

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