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

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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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 2015
Accession Number
AD1009188

Entities

People

  • Ronald H. Palacios

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Biomedical
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Computers
  • Control Sticks
  • Control Systems
  • Environment
  • Equations Of Motion
  • Graphical User Interface
  • Grids
  • Kinematics
  • Mechanics
  • Operating Systems
  • Physics
  • Robots
  • Simulations
  • Specifications
  • Teleoperation
  • Trajectories
  • Unmanned Systems

Readers

  • Aerodynamics/Aeronautics.
  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Control Systems Engineering.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy