Accession Number : AD1009188


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


Descriptive Note : Technical Report


Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA MONTEREY United States


Personal Author(s) : Palacios,Ronald H


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/1009188.pdf


Report Date : 01 Dec 2015


Pagination or Media Count : 75


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.


Descriptors :   ROBOTICS , KINEMATICS , APPLICATION PROGRAMMING INTERFACE , TRAJECTORIES , cartesian coordinates , control sticks


Subject Categories : Cybernetics


Distribution Statement : APPROVED FOR PUBLIC RELEASE