Acrobot
ACROME Acrobot is a robot-arm system with custom joint options to be used as a test bed for collaborative robotics, intelligent control systems, and Industry 4.0.
OVERVIEW
ACROBOT 6-DOF Robot Arm, with its high technology joint actuators, is a hands-on experiment, closing the gap between real industrial systems and DIY- approach. Users can understand the complex inverse kinematics algorithms and quickly prototype new motion control architecture for industrial parallel kinematics robots. ACROBOT enables the students and researchers to design complex applications and gives them access to the world of industry 4.0. Completely open source software makes it possible that researchers can modify and test their developed algorithms.
SOFTWARE
- LabVIEW, Real-Time (optional), FPGA (optional)
- MatLab/Simulink
CONTROLLER
- Raspberry Pi + Shield
PRODUCT PHOTOS



FEATURES
Assembled 6 DOF serial kinematic arm robot
Every joint has a high resolution absolute encoder after gear reduction. +/- 0.1 mm repeatability
2 kg payload at maximum reach. 960 mm workspace
Fully compatible with MATLAB®/Simulink® and LabVIEW™
Enables users to create their own real-time algorithms
Aluminum Cast Joint Structure
Actuating the robot by high precision smart servo actuators (3.5 – 4.5 arcmin backlash)
Position, velocity, and torque (Electrical current sensing) can be controlled
Denevit-Hartenberg convention model for serial kinematic arm robot in MATLAB®/Simulink® and LabVIEW™
Open source software architecture with extensive courseware, suitable for undergraduate and graduate courses of robotics and control systems
FAQs
What is Acrobot
Acrobot is the series name of open-source, accessible serial kinematics robotic arms built by ACROME.
What is the Acrobot used for?
Acrobots are used for teaching robotic algorithms and for research purposes. Users can develop their own advanced controls and serial kinematic algorithms while accessing each joint individually.
Does the product have built-in kinematics solver?
Yes. The courseware has rich example codes including the kinmatics calculations with documentation.
Does it have a gripper?
Acrobot doesn't have a default gripper. Users may consult ACROME to learn the gripper options.
Does the product comes with a controller and software/courseware?
Product comes with the controller, software and a companion courseware with example source codes.
Is there any after-sales support or training for the product?
A complimentary online support session is available after the delivery of the products. Standard support is provided via the phone, e-mail or remote desktop connection.
CURRICULUM
COMPONENTS OF ACROBOT
Smart Servo Motors Controller
ACROME Power Unit
RS485 to Serial Converter Module
Mechanics of the System
ACROME Power Unit
RS485 to Serial Converter Module
Mechanics of the System
PROGRAMMING
Computer Interface of Robotic Software
Program Tab
Creating Motion Sets
Command Tasks
Structure Options
Graphics Tab
Move Tab
XYZ Coordinate Move
End Effector Move
Joint Angle Move
Program Tab
Creating Motion Sets
Command Tasks
Structure Options
Graphics Tab
Move Tab
XYZ Coordinate Move
End Effector Move
Joint Angle Move
FUNDAMENTALS OF SERIAL KINEMATIC CHAINS
DenavitHartenberg Convention
Forward Kinematics
Inverse Kinematics
Forward Kinematics
Inverse Kinematics
TRAJECTORY GENERATION
General Considerations in Path Description and Generation
Cartesian Space Schemes
Joint Space Schemes
Cubic Polynomials
Higher Order Polynomials
Linear Function with Parabolic Blends
Cartesian Space Schemes
Joint Space Schemes
Cubic Polynomials
Higher Order Polynomials
Linear Function with Parabolic Blends
LINEAR CONTROL OF MANIPULATORS
Feedback and Closed-Loop Control
Control of Second Order Linear Systems
Trajectory Following Control
Modeling and Control of a single Joint
Control of Second Order Linear Systems
Trajectory Following Control
Modeling and Control of a single Joint
RELATED BLOGS
Admittance Control: Concept, Applications, and Insights
8Min
Admittance control allows robots to respond smoothly and safely to external forces, making it essential in human-robot interaction, rehabilitation, haptics, and Tesla’s humanoid robot Optimus. This article explores its core principles, sensor challenges, and real-world applications.
Admittance Control: Concept, Applications, and Insights
8Min
Admittance control allows robots to respond smoothly and safely to external forces, making it essential in human-robot interaction, rehabilitation, haptics, and Tesla’s humanoid robot Optimus. This article explores its core principles, sensor challenges, and real-world applications.













