# All Questions

8 views

### How to choose timing belt?

How to choose and use timing belt for driving a constant RPM speed spinning shaft by motor in fashion as in the photo? Not being a mechanical engineer myself, would appreciate advises how to choose ...
4 views

### Running epucks as a flock using webots software

I would need to run the epuck robots as a flock using webots program. How do I go about doing it? I do not know the rationale behind on how robots could run like this too. ...
11 views

### I need a help with choosing a computer on the board

I need a computer on the board like raspberry pi for vending machine (I want to replace the original controller). This is list of seldom requirements: 1) It should has pins to connect to the mdb ...
18 views

### Converting a linear acceleration command into a DC motor command?

I'm constructing a 2 wheel balancing robot which uses a pid controler. I've tuned my parameters on numerical simulations based on a continuous inverted pendulum system so that the simulated inverted ...
34 views

### Detect human in proximity?

I'm looking for ways to detect human presense behind walls in close proximity (around 10 feet) in whatever way possible! Problem is I can't code! (I hope it's ok I'm posting here.) I know there are ...
14 views

### Angles in a Rocker bogie system

How do you select the following two angles in the design of a Rocker bogie system: Angle between two arms of the main rocker, and; Angle between two arms in the bogie.
30 views

### Drones and camera streaming

How do you stream video feed from a camera on a drone? I would think that at high altitudes Wi-Fi won't work. So what would you usually do, and how?
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### Good Robotics /Bio Engineering/prosthetics Graduate Programme in US/Europe?

Are there any good Masters/Phd programme in Robotics/BioEngineering (in USA/Europe) geared towards development of Upper Limb Prosthetics.
20 views

### DC Motor PID control with unstable velocity feedback

Currently I am building a omnidirectional robot with 4 DC Motors with embedded incremental encoder. However, with a constant pwm input, i am not able to control the motor to rotate in a "relatively ...
15 views

### How to find the body jacobain, for each link in a robot manipulator?

The links twist could be obtained, and thus The spatial manipulator Jacobian could be done, but when it comes to the body Jacobian, it is becomes difficult. Moreover, the adjoint transformation ...
13 views

### Tools needed for static and dynamic balancing

While professionals, like vehicle tire balancing has special equipment, under DIY conditions, how can the followings be achieved? Motor driven circular spinning disc, size about 1.5 to 3 inches (30 ...
8 views

### Is 1 to 3 inches internal diamter slewing ring standard parts?

While bigger size slewing rings (photo below) are widely available from many supplier as standard parts, is 1 to 3 inches (25 to 85mm) easily brought as standard parts (order from catalog, no need ...
27 views

### iRobot Create 2 and Open Interface 2 Spec not syncing up with incoming data

I have the create 2 and have it hooked up to an arduino. Almost all the commands work fine except when retrieving sensor information. If i send a request for packet 18 I get back values that while ...
37 views

### What is the difference between motion planning and trajectory generation?

What are the major differences between motion planning and trajectory generation in robotics? Can the terms be used interchangeably?
53 views

### I am doing a project on robotic surgeries! Can anyone help me and give me some details related to this topic? [on hold]

Can anyone help me, because I am doing a project on robotical surgeries and I would like someone to help me and advise me. I wonder if anyone could give me some data on tests he or she has run in a ...
8 views

### Epson EH853C robotics : Structure of command flow in the robot?

I am currently trying to setup an Epson robot. The model is EH853C, manufactured in 1999. The problem is that the display device of the system(OPU-320) is missing and I am trying to input the code ...
34 views

### Drive motor voltage / other specifications of Roomba 650

I salvaged some parts off my dead Roomba 650, and I'm trying to use the drive motor assembly . I got the pinout of the connector but I don't know what voltage / PWM / other specifications are there ...
27 views

### Do you have to have a rate controller for a Quadcopter?

Most academic papers characterise the rate of rotation along the x axis as φ"=(1/Jx)τφ. As far as I cant tell, this characterises the rate and not the actual angle φ itself and yet the PID controllers ...
38 views

### The uncertainty is big while the sensor is rather accurate at measuring a landmark in EKF-SLAM

I've a 2D sensor which provides a range $r$ and a bearing $\phi$ to a landmark. In my 2D EKF-SLAM simulation, the sensor has the following specifications  \sigma_{r} = 0.01 \text{m} \ \ ...
20 views

### Heavy omnidirectional platform suspension

I'm planning to build an omnidirectional platform that will support about 180kg robotic arm. The platform will be equipped in meccanum wheels. I would like to have some kind of suspension to avoid ...
63 views

### How to track robot position

I'm a software researcher, who in my spare time mentors a robotics team, helping on the software side of things. For years, I keep coming back to the same question. How to determine the robots ...
22 views

### FreeIMU External Magnetometer

I have been using the FreeIMU library successfully but now I want to add an external magnetometer that I can mount away from my motors. I've figured out how to modify the FreeIMU library to use an ...
58 views
+100

### GraphSLAM: why are constraints imposed twice in the information matrix?

I was watching Sebastian Thrun's video course on AI for robotics (freely available on udacity.com). In his final chapter on GraphSLAM, he illustrates how to setup the system of equations for the mean ...
69 views

### What dynamic system could these equations represent?

I have equations of a dynamic system. I need to figure out what this physical system is. The equations are: \begin{align} \dot{x}_1&=bx_1+kx_2+x_3\\ \dot{x}_2&=x_1\\ \dot{x}_3&=\alpha ...
21 views

### How to get a python node in ROS subscribe to multiple topics?

How a ROS node written in Python could subscribe to multiple topics and publish to multiple topics? All examples I found were for a single topic. Is this an event-driven model so subscription to ...
41 views

### Are robotic pollenators being designed?

With the bee hive collapses, growers are desperate for pollenation options. Is anyone working on swarms of tiny flying robots to augment the bees? They could look for a certain color, poke around ...
41 views

### Microcontroller for running Linux RTAI

I'm a beginner in Robotics. I'd like to ask what are the minimum/recommended specs for a microcontroller to run a real-time system such as Linux RTAI? What is the popular microcontroller for ...
45 views

### PID control of tank-like robot and IMU

Consider a tank like robot with a motor driver channel for each side of the robot (two motors on the left and two motors on the right) and an IMU. I'm interested in driving the robot in a straight ...
25 views

### Automatic agricultural robot using 8051

I want to build a automatic agricultural robot for my final year diploma project. The basic idea is to program 8051 to drive the robot in a fixed path in farm for ploughing the farm which i am ...
44 views

### Can a quadcopter hover while tilted?

Is there a way to make a quadcopter maintain steady hovering (no lateral movement, constant altitude) while tilted left or right? If so, how can i accomplish this?
26 views

### “Time-varying” and “nonautonomous” dynamical systems and their Lyapunov analysis

It is possible to distinguish the properties "time-varying" and "nonautonomous" in dynamical systems regarding Lyapunov stability analysis? Does it make a difference if the system depends explicitly ...
20 views

### Why do we spend money into developing humanoid robots? [closed]

I partially understand that we need humanoid robots because we are living in a man made world, but is this the only reason?
25 views

### how to plot $\pm 3 \sigma$ of a landmark in EKF-SLAM

I have implemented 2D-SLAM using EKF. The map is based-feature in which there is only one landmark for the sake of simplicity. I've read some papers regarding this matter. They plot the $\pm3\sigma$ ...
6 views

### Need a controller for a Staubli RS60 SCARA robot [on hold]

Before I get into matrix math, I need to get my robot operational. I need a CS8C controller for my 4 axis Staubli RS60 robot. If you have one, please respond. Thank you
20 views

### Ros, iai_kinect2 issues

here is what I did on Ubuntu 14.04 LTS running on a Toshiba Satellite, intel i7, nvidia with usb 3.0 and 2.0 ports. 1, 2, 3 refer to scripts found here Setup ros by running this install-ros.sh ...
20 views

I'm want to build a smaller quadcopter so I'm looking for smaller propellors for quadrotors. However, The smallest propellors I can find in DIY shops are >= 5inch. The smaller propellors are always ...
21 views

### Ball and plate possible sensors use

I am looking for sensors to give me the position of a ball on a plate in order to make a ball and plate problem . What came to my mind is to use image processing but since i never did some serious ...
41 views

### Is Khepera II still adequate for learning

A professor in my university is asking me to study robotics with him. By robotics I understand programming a robot to move around, avoid obstacles, figure out a maze, etc.. He sent me some manuals for ...
22 views

### What is the best software/package to draw the robot manipulator and indicate DH parameters and different axes?

I'm wondering about good software/package to draw the robot manipulator and indicate DH parameters and different axes? Any suggestions!
111 views

### Jacobian-based trajectory following

I would like to control my 7 DOF robot arm to move along a Cartesian trajectory in the world frame. I can do this just fine for translation, but I am struggling on how to implement something similar ...
47 views

### Multiple limbs on small robots

Note: I'm a firmware developer experienced with sensors and networks, but not much with motors. I am trying to build a small hobby robot, like a cat-sized spider. I am thinking of using servo motors ...
21 views

### Finding the relative pose of a robot gripper

I have a robot arm with a gripper. I know the gripper pose (relative to the robot base coordinate system) at any moment. At startup, I record the pose of the gripper and set this as the original pose ...
48 views

### How to cite the book “INTRODUCTION TO ROBOTICS - MECHANICS, PLANNING, AND CONTROL”? [on hold]

I couldn't find a way to cite this book: INTRODUCTION TO ROBOTICS - MECHANICS, PLANNING, AND CONTROL When I ask Zotero to retrieve metadata for that book, it retrieves metadata for another article ...
29 views

### Atmel ICE basic connection

I got Atmel ICE basic, 6pin wire and atmega 1248, how I should connect the pins. I tried to look from data sheet, but I cant sent the code in atmega. ...
16 views

### Best practice to write a ROS service for a serial-communication class with many options

I have been asked to write code to implement serial communications with a camera in order to control its pedestal (movable base) as well as set a few dozen other camera options. The catch is that I ...
27 views

### Cheap wheeled robot without tether (does not need to be programable)

I am looking for cheap wheeled robot that can be controlled remotely. I do not really care about how (RF, Bluetooth, WiFi, IR, other?), as long as I can control around 10 robots without interference ...
29 views

### choose ZigBee modules for full wireless mesh

What is the most common ZigBee IP Modules to create full wireless mesh mode? I know that it should be 1) coordinator and 2) router to create full-mesh But I am interesting about what kind of modules ...
In robot kinematics, we have $e^{(\theta*twist)}$, where $twist$ is 6*1 vector. How do I get the 4 by 4 transformation matrix by using product of exponentials?