Robotic Arm Manipulation Laboratory With a Six Degree of Freedom JACO Arm
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| Titel: | Robotic Arm Manipulation Laboratory With a Six Degree of Freedom JACO Arm |
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| Autoren: | Palacios,Ronald H |
| Weitere Verfasser: | NAVAL POSTGRADUATE SCHOOL MONTEREY CA MONTEREY United States |
| Publikationsjahr: | 2015 |
| Bestand: | Defense Technical Information Center: DTIC Technical Reports database |
| Schlagwörter: | 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 |
| Beschreibung: | 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. |
| Publikationsart: | text |
| Dateibeschreibung: | text/html |
| Sprache: | English |
| Relation: | http://www.dtic.mil/docs/citations/AD1009188 |
| Verfügbarkeit: | http://www.dtic.mil/docs/citations/AD1009188 http://oai.dtic.mil/oai/oai?&verb=getRecord&metadataPrefix=html&identifier=AD1009188 |
| Rights: | Approved For Public Release |
| Dokumentencode: | edsbas.BE0D44FF |
| Datenbank: | BASE |
Nájsť tento článok vo Web of Science | Abstract: | 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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