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Thread: 6DOF Robot Made in India

  1. #1
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    Default 6DOF Robot Made in India

    We just completed this robot and still working to improve the movements. Please send in your suggestions and feedback!

    http://www.youtube.com/watch?v=1AGnSuOZc50

    We will integrate vision and other stuff with it soon and will be posting new vids soon!

    Thanks a lot
    Cheers

  2. #2

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    how do u control the motors?

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    There are 3 different levels of control

    at the top level we give a desired cartesian (x,y,z, roll, pitch, yaw) velocity
    this gets converted to joint velocities using inverse jacobians (matrix stuff) and this in turn is controlled using a PID to control the motors

  4. #4
    Senior Member T-1000 debu's Avatar
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    @akb1980: Beautiful! I noticed the excellent use of IK too. One of the better implementations I have seen in a long time. Those look like AC servos to me, what PLC are you using with them? Also are you using some kind of Robotic Arm IP (Siemens or Fanuc or something?)

    Regards,

    Debu

  5. #5

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    Beautiful and elegant!!!!!


    asimov

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    Administrator T-1000 vikas's Avatar
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    Sweet , What a delight to something good which is indigenous.
    Vikas Patial

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    Thanks for the encouragement guys...

    we are not using any PLC -- this is controlled using a standard desktop pc (yes with windows) and c++. we use open source libs like roboop & boost and modify them with our own implementations of IK and Trajectory control.

    The motors are DC Servos.....

    Do add your feedback and suggestions on how to improve this!

    Cheers

  8. #8
    Senior Member T-1000 akshay66's Avatar
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    good one!!!
    Redefine it your way!!!!

  9. #9
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    That is so sweet. Good work.

    You should have a webpage or put a rundown of the specs in the youtube page.

  10. #10
    Super Moderator T-1000 docel's Avatar
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    Nice work!! Congrats!!! :roll:
    Though-
    - the joints need a lot more strength to prevent stress creepage.
    - Needs better start - stop control. The control at the moment will break the motors soon. ( jerks !!)
    The way I look at it , you have anywhere from .5mm to 2mm error in the system. With a load of 1.5 Kg, it will be more. The best way to check is to load the gripper with a felt pen and write on paper....

    For heavens sake, stop using sheet metal for Industrial purposes! It will defeat the very purpose of the Pick n Place. I do hope you have some casting in the forge- light weight does not guarantee precision in a 6DoF.

    There are industrial standards for these things. You will have to adhere to them quite closely if you want a positive market. There are many such manufacturers claiming 6DoF but fail to satisfy the Industrial standards. I know atleast 3 such 6DoFs in Bangalore, that havent sold in the market since 10yrs!!

    Good Luck!!
    docel
    ^Anything is possible..
    after YOU prove it!!

    http://bangalorerobotics.tripod.com

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