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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38 views

Grasp stability of a robot

I have read some researches and sources about "grasp stability", but I don't understand what it is exactly. If a grasp is stable, does the hand grasp the object perfectly, accurately or strictly? ...
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1answer
185 views

Is there any fault in my kinematic diagram?

I was doing forward kinematic test on a 6 D.O.F anthropomorphic robotic manipulator. So I modeled my kinematic diagram by D-H notation. But I am confused. Because I have simplified some terms here. I ...
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813 views

moveit! trajectory execution aborted

I'm trying to send a custom arm to a pose through moveit_commander_cmdline.py, it fails after sending to the said pose using " go default_pose" and returns an error. ...
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0answers
43 views

Inverse Kinematics of Puma 566 giving low angle results with DH convention

I am new at the robotics area, and i need to deliver an activity until this week in my college based to solve the inverse kinematics problem from an article that doesn't have any code done, and after, ...
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1answer
28 views

All Joint Angle values not converging to desired set point (I am using Roy Featherstone's Spatial Toolbox)

I need the robot joint angles to become the same as given (desired) joint angles. The kinematics and dynamics (used Spatial Toolbox) are correct and the motor models are realistic too. But out of 3 ...
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1answer
79 views

Forward Kinematics of non-planar robot using Roy Featherstone's Spatial Toolbox

I have a non-floatbase 3 DOF non-planar robot whose forward kinematics I need to compute using Spatial Toolbox. The code for this purpose is p = fbkin(q) but as my ...
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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 ...
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1answer
46 views

Roy Featherstone toolbox robot model

I want to model these D-H parameters in spatial toolbox: Link: alpha, a, theta, d Link 1 : -90 0 theta1* d1 Link 2 : 0 a2 ...
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29 views

Which motor is suitable for generating a constant pressure on objects?

I want to build a simple arm that can generate a pressure on a small object (a force of 50-100 gram is enough) and let go of it very quickly. Which motor can be used for this?
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1answer
173 views

Joint torque sensor vs end-effector force sensor

I am trying to understand the difference between joint torque sensors, and force sensors, in a robot arm. From what I understand, joint torque sensors estimate the torque at each joint, whereas a ...
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1answer
90 views

3-DOF Robot Dynamics error in Robotics Toolbox

I am trying to compute dynamics of 3 DOF robot using Robotics Toolbox by executing this code: robot.accel(q, zeros(1,3), zeros(1,3)) But I am getting this error: ...
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1answer
102 views

Simulating a robot

I try to simulate a robot, but with a GUI. I can make a simulation using pyopengl to simulate the movement of robot, but I cannot make the GUI with that. I need to make it easier to simulate, analyze, ...
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1answer
59 views

Native ROS vs ROS compatible via API

I am looking to buy a cobot for a research project (budget about 20k€). I happened to see some cobots (e.g. Mara) that claim running ROS natively, some others (e.g. Aubo i5) that is compatible with ...
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1answer
350 views

Inverse Jacobian to find joint angles

I am trying to implement a joint space control with the UR5 in MATLAB/Simulink and have programmed the forward kinematics of the same. Now, I want to find out the joint angles of the manipulator using ...
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2answers
54 views

Robotic arm for university student [closed]

Can anybody recommend a robotic arm to be possibly coupled with VR to be used for educational purposes for university students within a bucket of about 15000€?
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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 ...
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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
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 ...
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2answers
415 views

Number of inverse kinematics closed form solutions for ABB IRB 140

I've read that 6 dof manipulators give eight closed form solutions, according to a paper. What is the number of iK solutions for the ABB IRB 140? (last three axes intersect but there is a offset ...
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1answer
392 views

Home position of robot created using modified DH Parameters doesn't match the real robot

I have created a 6-DOF robot using RigidBodyTree() method and modified D-H parameters using robotics toolbox in MATLAB. The modified DH parameters for the robot are as follows: I have followed the ...
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1answer
73 views

Rotation at SerialLink.teach Robotic Toolbox

Im using robotic toolbox to simulate my robot, but i always confused when i see the value of rpy. It always different if i compare with tr2rpy and tr2eul. What kind of rotation used in SerialLink....
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0answers
51 views

Any way to program a robot remotely?

So Udacity, Kuka and KIT are/were offering a Kuka challenge. Basically, the participants got to write code and run it remotely on a Kuka robot based in the KIT labs in Germany and submit their code ...
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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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2answers
38 views

Lifting robot that moves like a plotter

I'm looking for what a robot that moves like a plotter but can grab a load up to 1kg with a claw, lift, rotate and place in another location within its range. What is this type of robot called?
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1answer
110 views

Explanations about inverse kinematic

I am currently designing a 2D simulation of a 3DOFs robotic arm in order to develop a better understanding of inverse kinematic (so as to avoid breaking more components than necessary) but despite my ...
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2answers
175 views

Free Multibody Dynamics Software?

I'm working on modelling a feller buncher, its end effector consists of a saw to cut trees and claws to bundle them together. I'm looking for a free/open source software that can simulate dynamics of ...
2
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1answer
51 views

Force controller with feedback issues

I'm implementing a force controller on a robotic arm, where the force input comes from torque sensors in the joints. I have calculated the cartesian force on the end-effector from the joint torques, ...
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1answer
700 views

Calculate Roll Pitch Yaw from Modified Denavit Hartenberg

I'm using modified denavit hartenberg to represent my robot end-effector. But i couldnt find equation to calculate rpy if im using mdh. Below my MDH. I try use rpy equation for dh paramater(from ...
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2answers
254 views

Calculate the inertia matrix of complex robotic mechanism

Motor, irregular rigid body of Different materials Forming a single robotic. For example, Industrial robot, every geometric shape of the link is very complex. But we can find inertia matrix form CAD ...
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5answers
2k views

Why my robot is lying down in gazebo simulator?

this is my first post about ROS and Gazebo also I am new in ROS. I spawn KUKA robot in Gazebo using urdf file from KUKA github repository following answer from this question I spawned my urdf file in ...
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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 ...
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0answers
31 views

How to add some more feature for this simulink model

After some research Robotic hand simulation in MatLab? After some motivation, I have tried to go inside Matlab Simulink and was able to do this :- https://drive.google.com/open?id=...
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2answers
115 views

How are shells for robotic arms made?

I wonder how the shells of robotic arms are usually made. By the shell, I mean this: This is taken from the project here, which is a University project. If the shells were injection moulded, how ...
2
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1answer
148 views

What is the best adaptive controller for robotic arms?

I have a question that lays on practical experience. What is the best adaptive controller for a robotic arm? Self Tuning Regulator (STR) Model Reference Adaptive Controller (MARC) Adaptive Model ...
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2answers
104 views

Making a motor controlled joint passive

Anyone know of a good (and economical) way to make a motor controlled arm become a passive link on trigger? That is, the joint can be active (motor controlled) or passive (rotate freely). The tip of ...
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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
60 views

Why my stepper motor doesn't move when I attach a blade?

I wanted to use the NEMA 17 stepper to drive a blade/flapper that I have custom made for some physical application.As soon as I tighten the screw,the motor stops rotation in the usual way. Don't have ...
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2answers
369 views

3D Inverse Kinematics Jacobian Construction

I am following this article: Overview of Jacobian IK From the link, an example says: O is a pose vector which represents the initial orientation of every joint And following this, it gives an ...
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1answer
537 views

Gravity compensation

I am just getting curious about this gravity compensation technique. If we could compensate the force generated by the gravity (by feeding in the exact amount of force into the opposite direction), ...
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1answer
90 views

Add control and planning trajectory to double pendulum [closed]

How do I control a double pendulum to get the end effector link to go in the trajectory shaped in a perfect circle? I have the equation of the circle to go in but I don't know how to get the double ...
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1answer
66 views

how to plugin orientation of 6R robotic arm in inverse kinematics

I had all the DH parameters and calculated transformation matrix. From that I know the end-effector value position. But I don't understand how to integrate orientation.
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2answers
154 views

What factors determine the number of joints in a robotic arm?

I am starting studying robotics from tomorrow. This is my first question to get started with robotics. Pardon me if this question is too naive. What factors determine the number of joints in a ...
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0answers
137 views

robot Hand Eye Calibration problem

I am trying to understand the implementations and the relative performance of various classical and new Hand-eye calibration approaches. Note: The following discussion assumes implementations are in ...
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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 ...
4
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1answer
1k views

How to limit large acceleration and jerk from PID controller?

I am trying to control a robotic arm with force input. The output of the force sensor is filtered, and fed through a PID controller to command the end-effector velocity. However, the robotic arm has ...
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2answers
40 views

need help to get inverse kinematics

I have a 3 degree of freedom arm robot and by using D-H representation method get the forward kinematics but I can't derive the inverse kinematics can someone help me please ?
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5answers
267 views

Is it correct to think of forward kinematics as merely a 'check' for the inverse kinematics?

When the only inputs to your robot are the next x,y,z coordinates of the next point on and on, I can simply just calculate IK to find the angles and make my actuators move to these angles. Whats the ...
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1answer
52 views

Humanoid robot with Raspberry pi [closed]

I am in the midst of designing a humanoid robot, and I am very new at this technical stuff, but I have found servo motors which are capable of producing 500 kg.cm. Now I am looking at making a ...
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0answers
90 views

Defining C-space state for an arm in OMPL

I'm very new to Robotics, so please bear with my ignorance about the subject. That said, I'm trying to use Open Motion Planning Library (OMPL) to set up the configuration space for a robotic arm ...
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2answers
383 views

how to control servo motor with potentiometer in arduino

I'm working on a robotic arm which uses 3x MG995 servo motors, 3x potentiometers (10k), and 1 Arduino Uno. I uploaded the code to the Arduino but the servo won't stop. I want to control it with the ...

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