robot arm control::: need some help

[mangood]

hi

i try to bulid this system using labview it simpaly pich and place an object on the table, the location of object found by camera relative to frame on the edage of table

i have D_H parametrs of the robot

does any one have information about this type of system

what is the genral steps to do that/??

or what is the next step

best regardd

[leonardolt]

Dear mangood,

First of all: what part exactally do you need to do with labview? Robot's inverse knematic D-H matrix can be solved using mathematical functions. Do you need to output any parameter to move the robot? Do you have a phisical robot to work with? Image processing from the webcam ins another chapter, in witch I have no experience, but maybe I can help you a little with the robot issue.

Best Regards,

Leo

[Barp]

I strongly advice you to use the LabVIEW Robotics Module. It has D-H support and should allow 

If you have the module, please look at the shipping examples for inverse kinematics.

For the Vision part, we also have extensive amount of information. Please look at this references:

https://www.ni.com/en/shop/data-acquisition-and-control/add-ons-for-data-acquisition-and-control/wha...

https://www.ni.com/docs/en-US/bundle/322228c/resource/322228c.pdf

This should be enough for you to understand how to use LabVIEW to solve this problem.

[RedAG]

Hi mangood,

First of, an excellent project to work with! Now, do you have the actual robot with you or are you simulating the robot? The picture you posted is of an industrial robot I believe, with 6 joints. PUMA, SCARA and my personal favourite the ABB iRB all have 6 joints. 

As I understand your quextion, you say you want to build the robot, then the robot have to be programmed using LabVIEW to replicate your current D-H parameters for the 'pick-and-place' operation?

Once you have provided more information, we can look into the next/first step for you to follow.

As one of the replies pointed out, the LabVIEW Robotics module would be essential I feel for your project.

Good luck and hope to hear from you soon.

[camerond]

My sincere apologies in advance for this post.

Call Howard Wolowitz ("Big Bang Theory"). He has some experience with programming a robot arm.

Cameron

[mangood]

Dear member

thank for replay

to simplify the problem I draw this figure as below

I have the physical robot which is take from here

http://www.robotmatrix.org/lynxmotion-robots.htm

I have build the vision system using labview to find the object  center position relative to base of of robot as shown below

I have the D_H parameters of it

I have the forward transformation matrices from gripper  frame axis (x6,x6) to base frame Axis (x1,y1) of the robot

my goal is to  to convert the object position (X,Y) to angle OF ARM so that the gripper become at  object center???

also did I put the link length in centimeter or meter in transformation matrices???

also to to simplify now the object all ways lock like  acircle

best REGARDS

 

[RedAG]

Hello mangood,

I am not familiar with the vision system you speak of, but considering the fact that the robot base (your X1, Y1) will not move, to find the position of the object centre to the robot base is a good idea. (BTW, most folks take X0, Y0 as the base and work their way up!).

To start with, you need to also give the posistion of the object centre as one of the intermediate positions of all the axises. 

Example, from current position, to this intermediate position (on top of object for example), then another position to grip object and then another position to drop the object.

In the D-H method, you can find the Link lenghth and the angle of the joint, is this what you mean?

You can put the link length anyway you want, except that it has to be uniform throughout your implementation.

Thanks, get back on those.

[JeffLUSN]

We just completed a project doing something along these lines.

little guy runs all day long

http://www.youtube.com/channel/UC_KXXAYbgZAJCsLPoEtzbZg

[mangood]

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@JeffLUSN wrote:

We just completed a project doing something along these lines.

little guy runs all day long

http://www.youtube.com/channel/UC_KXXAYbgZAJCsLPoEtzbZg

---

dear

can you put an explain of the project in pdf !!!!!!!