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Robotic Arm Manipulation Laboratory With a Six Degree of Freedom JACO Arm

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Title: Robotic Arm Manipulation Laboratory With a Six Degree of Freedom JACO Arm
Authors: Palacios,Ronald H
Contributors: NAVAL POSTGRADUATE SCHOOL MONTEREY CA MONTEREY United States
Publication Year: 2015
Collection: Defense Technical Information Center: DTIC Technical Reports database
Subject Terms: Cybernetics, ROBOTICS, KINEMATICS, APPLICATION PROGRAMMING INTERFACE, TRAJECTORIES, cartesian coordinates, control sticks, robotic arm, lagrangian dynamics, inverse kinematics, DH parameters, JACO, dh(Denavit-Hartenberg), ros(Robot Operating System), api(Application Program Interface), repetitive actions, Visual Studio, teleoperation, trajectory planning
Description: The JACO six degree of freedom robotic arm and associated software is characterized for use by students in a Robotic Manipulation Laboratory. The lab was implemented to help students understand tele-operation techniques with a sophisticated Kinova JACO robotic arm. The purpose of the research was to follow up on Jacintos work and expose students to forward kinematics via Denavit-Hartenberg (DH) parameters for robotic arm manipulation in a lab environment for various experiments. Jacinto demonstrated the viability of resistive glove control via simulation through the Robot Operating System (ROS) interface. He was not able to demonstrate real-time glove control. Here, we take an intermediate approach and introduce a virtual joystick. Manipulation experiments with various effector loads and Cartesian trajectories indicate a 1.0 kg load limit in the fully extended mode and 1.5 kg limit in a midrange mode. This verifies vendor specifications for the arm and is acceptable for light-load daily mobility requirements.
Document Type: text
File Description: text/html
Language: English
Relation: http://www.dtic.mil/docs/citations/AD1009188
Availability: http://www.dtic.mil/docs/citations/AD1009188
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  Data: Robotic Arm Manipulation Laboratory With a Six Degree of Freedom JACO Arm
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  Data: <searchLink fieldCode="AR" term="%22Palacios%2CRonald+H%22">Palacios,Ronald H</searchLink>
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  Data: NAVAL POSTGRADUATE SCHOOL MONTEREY CA MONTEREY United States
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  Data: 2015
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  Data: Defense Technical Information Center: DTIC Technical Reports database
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  Data: <searchLink fieldCode="DE" term="%22Cybernetics%22">Cybernetics</searchLink><br /><searchLink fieldCode="DE" term="%22ROBOTICS%22">ROBOTICS</searchLink><br /><searchLink fieldCode="DE" term="%22KINEMATICS%22">KINEMATICS</searchLink><br /><searchLink fieldCode="DE" term="%22APPLICATION+PROGRAMMING+INTERFACE%22">APPLICATION PROGRAMMING INTERFACE</searchLink><br /><searchLink fieldCode="DE" term="%22TRAJECTORIES%22">TRAJECTORIES</searchLink><br /><searchLink fieldCode="DE" term="%22cartesian+coordinates%22">cartesian coordinates</searchLink><br /><searchLink fieldCode="DE" term="%22control+sticks%22">control sticks</searchLink><br /><searchLink fieldCode="DE" term="%22robotic+arm%22">robotic arm</searchLink><br /><searchLink fieldCode="DE" term="%22lagrangian+dynamics%22">lagrangian dynamics</searchLink><br /><searchLink fieldCode="DE" term="%22inverse+kinematics%22">inverse kinematics</searchLink><br /><searchLink fieldCode="DE" term="%22DH+parameters%22">DH parameters</searchLink><br /><searchLink fieldCode="DE" term="%22JACO%22">JACO</searchLink><br /><searchLink fieldCode="DE" term="%22dh%28Denavit-Hartenberg%29%22">dh(Denavit-Hartenberg)</searchLink><br /><searchLink fieldCode="DE" term="%22ros%28Robot+Operating+System%29%22">ros(Robot Operating System)</searchLink><br /><searchLink fieldCode="DE" term="%22api%28Application+Program+Interface%29%22">api(Application Program Interface)</searchLink><br /><searchLink fieldCode="DE" term="%22repetitive+actions%22">repetitive actions</searchLink><br /><searchLink fieldCode="DE" term="%22Visual+Studio%22">Visual Studio</searchLink><br /><searchLink fieldCode="DE" term="%22teleoperation%22">teleoperation</searchLink><br /><searchLink fieldCode="DE" term="%22trajectory+planning%22">trajectory planning</searchLink>
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  Data: The JACO six degree of freedom robotic arm and associated software is characterized for use by students in a Robotic Manipulation Laboratory. The lab was implemented to help students understand tele-operation techniques with a sophisticated Kinova JACO robotic arm. The purpose of the research was to follow up on Jacintos work and expose students to forward kinematics via Denavit-Hartenberg (DH) parameters for robotic arm manipulation in a lab environment for various experiments. Jacinto demonstrated the viability of resistive glove control via simulation through the Robot Operating System (ROS) interface. He was not able to demonstrate real-time glove control. Here, we take an intermediate approach and introduce a virtual joystick. Manipulation experiments with various effector loads and Cartesian trajectories indicate a 1.0 kg load limit in the fully extended mode and 1.5 kg limit in a midrange mode. This verifies vendor specifications for the arm and is acceptable for light-load daily mobility requirements.
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  Data: http://www.dtic.mil/docs/citations/AD1009188
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RecordInfo BibRecord:
  BibEntity:
    Languages:
      – Text: English
    Subjects:
      – SubjectFull: Cybernetics
        Type: general
      – SubjectFull: ROBOTICS
        Type: general
      – SubjectFull: KINEMATICS
        Type: general
      – SubjectFull: APPLICATION PROGRAMMING INTERFACE
        Type: general
      – SubjectFull: TRAJECTORIES
        Type: general
      – SubjectFull: cartesian coordinates
        Type: general
      – SubjectFull: control sticks
        Type: general
      – SubjectFull: robotic arm
        Type: general
      – SubjectFull: lagrangian dynamics
        Type: general
      – SubjectFull: inverse kinematics
        Type: general
      – SubjectFull: DH parameters
        Type: general
      – SubjectFull: JACO
        Type: general
      – SubjectFull: dh(Denavit-Hartenberg)
        Type: general
      – SubjectFull: ros(Robot Operating System)
        Type: general
      – SubjectFull: api(Application Program Interface)
        Type: general
      – SubjectFull: repetitive actions
        Type: general
      – SubjectFull: Visual Studio
        Type: general
      – SubjectFull: teleoperation
        Type: general
      – SubjectFull: trajectory planning
        Type: general
    Titles:
      – TitleFull: Robotic Arm Manipulation Laboratory With a Six Degree of Freedom JACO Arm
        Type: main
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          Name:
            NameFull: Palacios,Ronald H
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            NameFull: NAVAL POSTGRADUATE SCHOOL MONTEREY CA MONTEREY United States
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            – D: 01
              M: 01
              Type: published
              Y: 2015
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