0
votes
0answers
6 views

How to bring the servo angles in range of mechanical constraints for a biped?

We are working on a biped called MANUS and trying to implement stable walking using Inverted pendulum approach.Got the solution for servo angles but they are out of the range of our mechanical ...
0
votes
0answers
13 views

Which Books Can be Good for Creating Cheap RC Car / Robots / Drone projects?

I want to build a RC car / robot / drone/ quadcopter at a cost of $100. But I don't have any idea about building them. Can you tell me about some of the books which can be suitable for me? And if ...
1
vote
1answer
14 views

what are methods to compare PID controller performance?

If there are input and the sensor measured outputs. What are the objective methods to compare performance besides looking at inputs and outputs matching or not?
0
votes
1answer
14 views

Virtual model in PLC discrete / continuous

How does one implement virtual model (continuous) while control system itself is discrete (PLC)? I've done this in practice but what about theory, how does one explain this topic to a stranger? (lets ...
0
votes
0answers
3 views

Reverse in Esc Phoenix Edge 100 (For Boating)

I bought an Esc (Phoenix EDGE 100 - Brushless) and I will use it for nautimodelism, but I don't know how to configurate it for Forward and Reverse mode. I saw that I can configurate it on the usb ...
1
vote
1answer
14 views

Using 2x UARTs on STM32F072RB

I am trying to use 2x UARTs with ChibiOS on the STM32F072RB Nucleo Board. I Initialized UART2 but i am still getting output on UART1 pins, which is totally weird. ...
0
votes
1answer
44 views

Problem with acceleration sensor

I’m using the BMA020 (from ELV) with my Arduino Mega2560 and trying to read acceleration values that doesn’t confuse me. First I connected the sensor in SPI-4 mode. Means CSB <-> PB0 (SS) SCK ...
1
vote
1answer
13 views

How to efficiently do 3D mapping of an area on a MAV?

I have been researching on a cost-effective way to scan an area on a MAV (exploraton) and later use it for CAD/civil purposes(use the point cloud data for CAD) but the major sensors available have ...
0
votes
1answer
24 views

Raspberry Pi Hexapod 18DOF, Best servo control board?

Recently I've bought a hexapod kit and 18 TowerPro MG995 servos. My objective is to apply also the Pi camera, sensors and perhaps a claw... So I've been researching and I haven't found a clear answer ...
0
votes
1answer
25 views

Can ESC be programmed to run full throttle only on one side of a quadcopter?

Can ESC in quads be programmed in such a way that only one side has throttle and no throttle at all on the other? This would cause the quad to flip I suppose? With that, is there a way we can ...
0
votes
1answer
37 views

KUKA Robotics API IDE

I've got Robotics API library, demo-program and a robot. I want to develop app for it. The best solution is offline development on some kind of simulator. I'm completely new in such tasks - is there ...
1
vote
1answer
29 views

Extend robotic arm with wrist rotation

I got an OWI Robotic arm, but was slightly disappointed at it having only horizontal position for gripper. What would be the easiest way to extend with gripper/wrist rotation, i.e. 6th degree of ...
-1
votes
1answer
41 views

STM32_OC_Timing and IRQHandler

I created a program to simple time base delay (in seconds). I have problem: How to read a interrupt flag from channel 1 etc.? When I use ...
0
votes
2answers
37 views

IMU rotate about one axis, other two angles change too

I am trying to use Invensense's MPU9250. I am using provided library to read euler angle. When the IMU rotates about one axis, angles about other two axes change too. What could be potential cause to ...
1
vote
3answers
50 views

Is Lego Mindstorm a good start?

I would like to start experimenting with Robots. Is Lego Mindstorm a good start? Should I consider other platforms?
1
vote
1answer
44 views

Sensors' field of view in car driving

I want to develop an autonomous driving RC car. For detecting obstacles, I plan to mount 3-5 ultrasonic sensors in the front and in the back the car. What is the minimum necessary combined field of ...
0
votes
0answers
54 views

Orientation parameter for quadcopter with madgwick fusion algorithm

I recently decided to build a quadricopter from scratch using Arduino and now I'm faced with an orientation estimation problem. I bought a cheap 10DOF sensor with 3 axis magnetometer, 3 axis ...
2
votes
4answers
62 views

DH-Parameters for Forward Kinematics for Translatory Motion only

I am fairly new to the DH-transformation and I have difficulties to understand how it works. Why are not all coordinates (X+Y+Z) incorporated into the parameters? It seems to me that at least one ...
0
votes
0answers
14 views

How to Handle a Fixed Joint in a (Featherstone) Articulated Rigid Body Model

I've been working on a model of a Foucault Pendulum for a while now, using the articulated body algorithm as described by Roy Featherstone. In my model I attempted to break up the joints by physical ...
1
vote
3answers
40 views

Homogenous Transformation Matrix for DH parameters

I'm studying Introduction to robotic and found there is different equations to determine the position and orientation for the end effector of a robot using DH parameters transformation matrix, they ...
0
votes
1answer
25 views

How to determine the trajectory reference on the real robot trajectory tracking

I know that we can use some algorithms like LQR, MPC, or even PID to make the robot follows the trajectory references. In the simulation like MATLAB, I usually specify the trajectory reference by a ...
3
votes
4answers
100 views

How to localise a underwater robot?

I am building an autonomous underwater robot. It will be used in swimming pools. It should be capable of running in any normal sized pool, not just the pool in which I test. So I cannot rely on a ...
1
vote
1answer
29 views

Digital Controller Design for System with variable sample time

Basically I got system with a sensor and an output. I want to apply a digital implemented feedback controller. The problem in this setup is the sensor. The specifications of the module says that the ...
0
votes
1answer
29 views

Problems about Complementary Filter IMU tuning

I'm developing a project consists of an IMU controlled by Arduino through which you can send via a radio module, the data to the PC of the three Euler angles and raw data from the sensors. For ...
0
votes
1answer
22 views

Troubleshooting Xbox Kinect 360

I recently got libfreenect running on my mac and was able to test out freenect-glpclview which uses some of the 3D capabilities of the depth sensor. I noticed that ...
0
votes
0answers
25 views

Mini Recorder from RC Heli Parts

I had a RC Helicopter (with video,picture, and audio taking capabilities) that recently "died" (unrelated to short circuit). The reciever board short circuted, but the board that sent data to micro-sd ...
1
vote
1answer
31 views

Pull-down resistor for inter-chip and sensor-to-chip communication

I understand the concept of using a pull-up/pull-down resistor when implementing a button/switch with Arduino to avoid a floating state, and in fact I have implemented this quite often. But I am not ...
1
vote
1answer
49 views

Question for those who have experience using stereo cameras/module (e.g. ZED, DUO M, Bumblebee, etc.)

This is a question for those of you who have experience using stereo cameras/modules like the ZED, DUO M, Bumblebee cameras, etc. (not TOF cameras). I can't find any sample disparity outputs out there ...
2
votes
1answer
33 views

Lagging sensor data for PID

Let's say a PID is implemented and the errors are calculated using the sensor data, but the sensor data lags by certain amount of time because of the overhead. And the lag time is smaller than the ...
0
votes
2answers
28 views

Starter Looking For Advice [closed]

I'm no professional. At 29 I just became seriously interested in robotics a few months ago and have been researching everything I can since. Now that I've come to understand how far robotics have ...
2
votes
1answer
42 views

Inverting a transform (Reading J Craig's book on Robotics)

From Introduction to Robotics by J.J. Craig, chapter 2, Page no. 36: Could anyone explain how that equation was derived/formed? I am stuck on this page due to failing to understand where the equation ...
0
votes
2answers
40 views

detecting presence of a person in a room

I am working on my first hobby project and I'm not very familiar with sensors yet. I am trying to build a system which detects presence of a person in a small room with a single entrance/exit door. ...
1
vote
0answers
27 views

On-board monocular odometry for quadcopter stabilization

Has anyone done this with EKF/PID on a small microcontroller? Or know of code snippets to help implementing this?
1
vote
2answers
51 views

Which middleware for IPC and multi-threading in a autonomous robot? [closed]

Aim: To use multi-threading and inter-process communication(IPC) when coding an autonomous robot. Platform: Embedded Linux (Yocto) Constraints : Limited CPU power. We are building an Autonomous ...
0
votes
1answer
37 views

Highspeed with gearbox or low speed for brushless motor?

I'm attempting to control a small vehicle at relatively slow (.5 m/s - 1 m/s) speeds, but with extreme accuracy (1mm). For the drive system, I'm considering using brushless motors as they have a much ...
2
votes
2answers
48 views

Calculate required motor torque through Harmonic Drive

I have a term project which is controlling a two-link manipulator with harmonic drive installed at each joint. To control, i used Computed control method to determine the torque needed for each joints ...
3
votes
2answers
67 views

Structuring EKF to estimate pose and velocity with odometry inputs

I have a differential drive robot for which I'm building an EKF localization system. I would like to be able to estimate the state of the robot $\left[ x, y, \theta, v, \omega \right]$ where $x, y, ...
0
votes
1answer
72 views

Need help regarding EKF in MonoSLAM

I am trying to understand the implementation of Extended Kalman Filter for SLAM using a single, agile RGB camera. The vector describing the camera pose is $$ \begin{pmatrix} r^W \\ q^W \\ V^W \\ ...
2
votes
1answer
58 views

What are the frequencies used for within drones?

What are these frequencies used for within the drone technology, and why these values? 35 MHz 433 MHz 868 MHz 2.4 GHz 5.8 GHz
1
vote
1answer
41 views

Improving Velocity estimation

I have a sensor reduction model which gives me a velocity estimate of a suspension system(velocity 1) . This suspension system estimate velocity is used to calculate another velocity(velocity 2) via ...
0
votes
1answer
20 views

Circuit Design and Simulation [closed]

I want to design some circuits of my own. My area of expertise is in Computer Science Engineering. I have listed out the components which are essential in the circuit. I want a software which can be ...
0
votes
1answer
65 views

Converting a 2D array of bits to a connectivity map (Code Debugging)

I'm working on an robot that would be able to navigate through a maze, avoid obstacles and identify some of the objects (Boxes in which it has to pot the balls) in it. I have a monochromatic bitmap ...
2
votes
3answers
140 views

Control both Velocity and Position (Linear actuator)

I am trying to control the velocity+position of a linear actuator. At this moment I am able to control the position or the velocity. But I'm trying to control both. What the control has to do: Let ...
0
votes
1answer
27 views

Can I use Bipolar stepper motor driver to drive Unipolar motor in Unipolar configuration?

Can I use Bipolar stepper motor driver to drive Unipolar motor in Unipolar configuration ?
1
vote
1answer
26 views

Measurement and physics model fusion

I am combining two position measurements of a ball from two sensors in real time to obtain one triangulated position in x,y,z coordinates. As the data exchange of the measurements carries some ...
0
votes
1answer
32 views

Torque of coreless DC micro motor

I would like to build a small two-wheeled robot similar to the one shown here. In order to keep the robot small, I intend to use two coreless micro motors like the one shown bellow. The power source ...
2
votes
1answer
38 views

Spring with electronically adjustable stiffness

I would like to build a mechanical module that acts like a spring with electronically controllable stiffness (spring rate). For instance, let's imagine a solid, metallic cube, 0.5 m each side. On the ...
0
votes
1answer
27 views

Discover vector/angle between stereo camera pose and vehicle body

I have a calibrated stereo camera system that is mounted in a passenger car which means I am able to retrieve a point cloud from my stereo image. However, I need to find how well is the camera aligned ...
0
votes
1answer
14 views

Wiring necessary to route power from any one of several rechargeable batteries

I'm looking for my robotics project to draw its power from one of 3 rechargeable batteries; basically whichever has the most "juice" in it. From the initial research I've already done, I believe I ...
1
vote
1answer
36 views

Understanding how solar panels can supply power to robotic circuits

Say I have this solar panel that outputs 6V at 330mA, or ~1.98 Watts. If I connect that to Arduino, which expects a 5V supply at (roughly) 50mA, then the Arduino as a whole requires 5V * .05A = 0.25 ...

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