# All Questions

6 views

### Avoid singularities or predict singularities?

I am at the moment trying to implement inverse kinematics for large displacements, by using interpolating. The problems is though that when i peform inverse kinematics for the interpolated data I ...
17 views

### Mobile robot algorithm implementation error

I am working in reproducing a robotics paper, first simulating it in MATLAB in order to implement it to a real robot afterwards. The robot's model is: $$\dot{x}=V(t)cos\theta$$ ...
39 views

### Looking for a steering method for autonomous robot [on hold]

I am working on an autonomous robot for an event. My robot is to reach speeds of 6-7 m/s, over different terrain (concrete, grass etc). I am looking for a steering mechanism which might be best suited ...
28 views

### Step size in numerical differentiation

I get position information and a corresponding timestamp from a motion tracking system (for a rigid body) at 120 Hz. The position is in sub-millimeter precision, but I'm not too sure about the time ...
18 views

### Dead Reckoning: Obtaining Position Estimation from Accelerometer Acceleration Integration

Good day, I have been reading papers about position integration from accelerometer readings. I have consulted this paper from freescale on how that is achievable and this article regarding leaky ...
21 views

### Are all Flight Controllers and Remote Controls using the same protocol?

I'm about to start a project, where I'm sniffing data between remote controls and flight controllers on RC copters and doing stuff with that information. Do all (or most) flight controllers use the ...
16 views

### E: Unable to locate package ros-jade-desktop-full

I want to install ROS on my Xubuntu 16.04, Xenial Xerus. I have followed the ROS's site instruction: http://wiki.ros.org/jade/Installation/Ubuntu, and did the following: First, setup my sources.list: ...
18 views

### Measuring vehicle's forward and lateral acceleration using a smartphone

I want to measure the acceleration (forward and lateral separately) using an android smartphone device in order to be able to analyse the driving behavior. My approach would be as follows: 1. ...
21 views

### How to use the code given in SLAM for dummies? [on hold]

I have been trying ti implement the code given in SLAM for dummies (http://web.mit.edu/16.412j/www/html/Final%20Projects/SLAM%20for%20Dummies%20presentation.pdf). Has anyone has used this code and ...
24 views

### Principle of virtual force - General help in understanding / explanation

I'm an Electronics student taking a module in Robotics. From the example, I understand line 1 as the Jacobian is found from the time derivative of the kinematics equation and such relates joint ...
31 views

### Quadcopter Flight Controller:Why does Using gyroscope data give better results?

I have succeeded in making my first quadcopter from scratch with a readymade frame. I designed the flight controller myself with help from YMFC-3D youtube series of videos. ...
34 views

I need to get my drone flying still enough that I can rest a glass of water on it. I've tried a few KK boards and APM 2.6 (3.1 software). I've balanced props, set PID settings, auto-trim / autotune ...
14 views

### Control power with a Super Nintendo controller [migrated]

Can someone please explain to me the steps I would need to take to control an LED with a super nintendo controller? My buddy and I are building a couch powered by a few electric motors. I thought it ...
35 views

### Diffrence between Degrees of Freedom (DOF) and Degrees of Motion (DOM)

Could anyone expain me shortly what is a diffrence between degrees of freedom (DOF) and degrees of motion (DOM)? I know that DOF is the number of independent movements a manipulation arm can make and ...
42 views

### How to check for a sharp angle with a line follower?

I have the mBot robot and I want to program it to follow the line. So far it can pass any kind of line that is >90°. I want it to be able to pass 90°-ish angles as well. Like this one: The problem ...
53 views

### How can my robot find its position in any given map without GPS, including when the initial point is not given?

Consider this map The Contest arena shown in figure 1 consists of two sub arenas, both the sides are identical to each other and their scientists and safe zone locations are similar. Each sub ...
86 views
+100

### How to apply A bang-bang signal of amplitude 1 N and 1 s width as an input force in Matlab?

I working on dynamic modeling and simulation of a mechanical system (overhead crane), after I obtained the equation of motion, in the form: $$M(q)\ddot{q}+C(q,\dot{q})\dot{q}+G(q)=Q$$ All the ...
33 views

### 8 wheeled vehicle model

I want the dynamic model for 8 wheeled robot. I expected to find it easily like the 4 wheeled bicycle model, but I couldn't. Here is my effort only for rotation not for feedback. From that I can ...
25 views

### I would like to create an Ai with speech and image recognition to be used around my house. How do you propose I begin my journey? [closed]

Coding wise, I have made a text adventure in python and a simple website in html. Where do I go from here? arduino?
14 views

### Quality check robot [closed]

How to develop a robot based system to continuously monitor and check products for defeat which are moving on a conveyer belt using sensors and kick out the defect product from the queue?
27 views

### Testbed for testing navigation algorithms

I'm looking for a testbed (simulator or web-based interface that lets me to have control on a robot) for testing different routing and navigation algorithms. Is there such a system on the web?
8 views

### Yet another Lifepo4 charging question [migrated]

I have 16 * 3.2v 12AH Lifepo4 cells. I would like to use them as a 8*2 configuration, so to get 24AH 24V. I need 24V but could do with 12AH, 24AH would be better do. Now my question is, would it be ok ...
33 views

### Is my servo fried?

I got a new servo a few days back (RC Servo, Futaba FP-S148). I first tested it out with the Sweep sketch on Arduino, powering it with the Arduino 5v and GND pins only. It was working, just fine. ...
9 views

### Collision Avoidance System for APM2.6 [closed]

I want to establish a collision avoidance system to my quadcopter with APM2.6 . But I dont know what to choose I mean ultrasonic sensor or rangefinder. Could anyone help me ? Thanks.
25 views

### motor inertia tensor?

In modeling dynamics of a robot ,in which servo motor is adjusted inside the link, there is a need to find inertia tensor of the motor itself,Right? So if it is needed how can i get the inertia ...
29 views

### How can I improve ZED Camera precision?

I'm using Stereolabs ZED camera for my computer vision project. I did a small research about several sensors on the market and ultimately we decided to go with the ZED Camera. However I'm finding ...
48 views

### Designing Ackerman's Steering Principle for an autonomous robot [on hold]

I am working on a high speed autonomous robot (about 6-7 m/s), which does obstacle detection as well as senses traffic lights (I have used Raspberry Pi 3 and Arduino Uno). For the steering ...
80 views

### Implementation of inverse kinematics solution in c++

I am having some issue with implementing a least square solution of the inverse kinematics problem. The q configuration I get are rather large, or makes no sense, so I was hoping someone here could ...
23 views

### How to determine the angles between a UAV and a sphere

I have an UAV modeled in three dimensions with let's say position coordinates $p_{uav} = (x_1,y_1,z_1)$ that is moving in a direction $d = (d_x,d_y,d_z)$ and a moving obstacle modeled as a sphere with ...
18 views

### Vector Field Histogram: Is it possible to generate an occupancy grid without position feedback?

I am currently working on an autonomous quadcopter project using stereo vision for obstacle detection. I am planning to use VFH+ for 2D trajectory planning, meaning movements of the quadcopter are ...
72 views

### Generate transformation matrices for rotating around a object?

How do i compute all transformation matrices which places a robot endeffector at the shell of this sphere, with the end effector pointing toward the object in the center. I know at all time how ...
45 views

### Performing inverse kinematics based on a displacement of the end effector?

I think i have an simple problem, but can't my head around how i should resolve it... My setup looks like this: The grey box on end effector is supposed to be an camera, which measures a ...
12 views

### Cannot disable sleep in passive mode for iRobot Create 2

I tried to disable sleep by pulsing the BRC pin low for one second every minute as suggested in the OI, but my Create 2 still goes to sleep after 5 minutes. My firmware is ...
52 views

### Choosing the right Mecanum wheel

I am part of my college robotics team which is preparing for Robocon 2017. We have used Mecanum wheels in last Robocon competition, but we have faced huge slip and vibration. I have looked for all ...
11 views

### What frames are supported by the Dynamixel XL-320 OLLO?

I was recently looking into purchasing either a Dynamixel AX-12A or XL-320. The XL seems to use OLLO frames, which only seem to be available in a toy-like set. I was wondering if there are any other ...
14 views

I created a package in catkin workspace and put a publisher.py node inside the src directory of package which worked fine. Then i added another node subscriber.py node and used catkin_make to build. ...
10 views

### Kuka KR16L-2 robot simulation base and wrist rotation inconsistent with original robot

The issue is regarding simulation of Kuka robot KR16L6-2 in MATLAB using Robotics toolkit by Peter Corke. I wish to simulate the kinematic before passing a command to real robot for motion. I have ...
29 views

### Which database to use for scientific literature search about robotics [on hold]

Each scientific area has its own database which you can search for specific literature (e.g. publications in scientific journals). Is there a recommended database for the field of robotics? BTW: For ...
52 views

### Suitable uC for atonomous robot

I am going to build an autonomous robot with Kalman-filter for localization integrated from Lidar, encoder, IMU and GPS. I will also add obstacle avoidance while moving to the required position. Is ...
21 views

### Is there a “follow me” Roomba/Create that works like a BEAMBot?

The diagram below shows an old BEAMBot strategy: Is there code or an example using this method? I would rather avoid OpenCV, ultrasonic, GPS etc. I just want the Roomba wheels to react as I go ...
45 views

### How do i construct i a transformation matrix given only x,y,z of tool position?

I am trying to implement a tracking application for a robot arm, which purpose is relocate itself based on the position of an object seen from the tool point. illustration: http://imgur.com/5oojXdh ...
27 views

### What type of actuator should I use? [closed]

I need to find out if There is a way to get at least 60 Hz of linear Motion with at least 5 mm of stroke that I intend to make linear persistence of vision device(not rotating one)It must be small and ...
37 views

### Directly observing lidar laser rays

I am working with SICK lidars and have to mount/unmount them quite often on my robot. The mounting process is very tedious especially when it comes to making sure that the lidars are horizontal. I ...
79 views

### Implementing an analytic version of an inverse kinematic

People have recommended me implement an analytic version of inverse Jacobian solver, such that I won't be forced only the least square solution, but would have an local area of solution near to the ...
14 views

### Does silver or copper bond more strongly to titanium? [migrated]

That's basically the question I have. Otherwise what are the strongest bond forming materials for welding titanium? They should preferably conductive, but in case I could make that work, otherwise ...
7 views

### My BeagleBone Black does not turn on other than power LED turns on for a second [migrated]

The power LED just turns on for a second and turns off. I again tried with power adapter (5V 1A) and the mini USB cable but nothing else happens.
33 views

### how to find maximum force of a robot joint

I want to know if there is any equation that calculates the maximum force of a robot joint. The force that we should not exceed. For example in human leg, if we apply a big external force to the ...
13 views

### Dynamic Model of a Manipulator

I'm stuck on equation 4.30 of page 176 in http://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf This equation: \$\frac {\partial M_{ij}} {\partial \theta_k} = \sum_{l=\max(i,j)}^n \Bigl( ...