# All Questions

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### Suggestion for correct battery pack

I am trying to run 2 12V Geared DC motors which has No-load current = 800 mA(Max), Load current = upto 9.5 A(Max). I need a proper battery pack for these. Can anyone help me pick the right one from ...
7 views

### How to control Wheeled Mobile Robot in 3D [on hold]

I am working on control of mobile robot in 3D. I want to do vector sum for X and Y components, use this vector sum in control methodology and again convert resulting speeds and torques into their X ...
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### State of academic research in Japan? [on hold]

(I originaly asked this question on academia stackexchange without much success as people there were less aware of the specifics of robotics. I am hoping to get answers from people directly connected ...
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### Do you have to stop first when switching direction for proper encoding readings?

Since the encoder is square wave not quadrature, do you have to stop first before changing directions for proper measurements? In other words, if you are commanding along in one direction at some low ...
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### Path planning - Quadtree decomposition (cell decomposition)

I need to solve a path planning problem using a cell decomposition method, more precisely the quadtree decomposition. I need to do it in MATLAB so I would like to know whether there is any exmaple or ...
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### How to find Friction or Viscous force b (nmsec) in DC motor

PLease guide me How to find Friction or Viscous force b (nmsec) in DC motor for a particlar speed. The motor is connected with a gear and the ration is 26:1 I want to find for 200 rpm and the motor ...
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### How to split tasks between interrupts and the main loop on a bare metal controller?

I'm working on a robotics project where I have 3 services running. I have my sensor DAQ, my logic ISR (motor controller at 20kHz) and my EtherCAT slave controller. DAQ and EtherCAT run in the idle ...
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### Best way to deal with surge in current from DC motors [migrated]

I have a Li-po battery 12V 9800mAh which powers a 4WD drone using 4 DC motors. Driving the motors from still to max speed without transients will cause a spike in current consumption that goes beyond ...
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### graph-based SLAM optimization fails with numeric error

I am implementing a graph-based SLAM system which works fine, i.e. it converges, if I assume a constant covariance matrix $\Sigma_{ij}$ for all my constraints. However, if I model my $\Sigma_{ij}$ ...
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### Calculate the uncertainty of a 6-dof pose for graph-based SLAM

This question is strongly related to my other question over here. I am estimating 6-DOF poses $x_{i}$ of a trajectory using a graph-based SLAM approach. The estimation is based on 6-DOF ...
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### VFH (Vector Field Histogram+): Obtaining the Primary Polar Histogram [on hold]

Good day I have been having trouble obtaining the right directional output from my implementation. I noticed that every time I put an obstacle at the right, it gives left, it gives the right steering ...
39 views

### Change Message Interval ArduPilot

I am using Mavlink protocol (in c++) to communicate with the ArduPilotMega, I am able to read messages such as ATTITUDE for example. I am currently getting only 2Hz (message rate) and I would like to ...
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### Is my motor defective? [migrated]

I recently bought two 12V DC motors from Amazon. After I recieved them today, I tried testing them. One of the two motors run fine but the other motor shows erratic behaviour. It gets very hot within ...
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### Tring to run 12 V DC geared motor using Samsung Li Ion ICR16850 batteries

I am trying to run this motor. Using the batteries stated in the title. The motor requires 12 V and I am supplying 11.98V to the motor, through a motor driver. After a while, the motor keeps slowing ...
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### What's the difference between the term “pose estimation” and “visual odometry”?

I'm reading a paper: Choi C, Trevor A J B, Christensen H I. RGB-D edge detection and edge-based registration[C]//Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference ...
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### How to connect phone's camera to an Arduino? [migrated]

I would like to ask how to connect my phone's camera to an Arduino. Just like it is done in this this video. Does anyone familiar with this application they are using?
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### Geared DC motor shows strange behavior [on hold]

I bought a couple of DC motors from amazon. I have got the motor shipped and to test it out I connected it directly to a 8V (motor is marked for 12V) battery pack that I have made by joining 2 ...
23 views

### Solving Inverse Kinematics with Gradient Descent

I am trying to implement my own inverse kinematics solver for a robot arm. My solution is a standard iterative one, where at each step, I compute the Jacobian and the pseudo-inverse Jacobian, then ...
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### VFH+ (Vector Field Histogram+) : Is it possible to choose a candidate sector without a set goal point?

Good day I am currently implementing the VFH algorithm. Is it possible to configure the algorithm such that a reactionary motion is generated at the presence of an obstacle? I have been able ...
25 views

### Estimating the displacement of a drone in three dimensions

Assuming a drone is in two dimension, it has to predict its future position by calculating its future displacement: For a real quad-rotor, why should we not only estimate the displacement of a ...
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### Using Accelerometer, Gyroscope and any sensor to track speed, position,

Problem Currently working on reverse engineering this application zepp.com/baseball. This is a wearable device that can track a users speed positional tracking when the object makes contact with ...
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### Computing the Jacobian Matrix — chain rule?

I am learning about robot kinematics and the Jacobian matrix, and I'm trying to understand how to compute the Jacobian matrix given a kinematic chain, such as a robot arm. I understand the theory ...
26 views

### Issues with Running Multiple Instructions in Sequence

I tried to use Microsoft Robotics Dev Studio (sample 4) to write a code that was able for robot to go with a square path by just one clicked. However, there is one problem. When I try to put ...
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### How to programme an iRobot Create using a serial to USB cable? [duplicate]

I am trying to programme my iRobot Create using a Serial to USB cable. I have connected the Serial end in the cargo bay connector port of the iRobot. I am using a software called Realterm ...
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### iRobot Create 2: Has anyone used the emss iRobot Create framework to control the create 2?

I am having trouble using the emss Interface to connect to the iRobot Create 2? Can I use that framework for Create 2 or is that strictly made for Create 1? Sorry in advance I'm very new to the ...
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### What are the steps to create a remote dimmer? [on hold]

Though I have experience in programming I'm completely new to the hardware world. Being a designer means that I'm engaged in this new project of creating a remote ecological dimmer (for illumination). ...
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### Motion Equations for CAM table SHM defining initial and final relative velocity [on hold]

I have been working with Simple Harmonic Motion Equation I can use SHM to create CAM tables that map Master positions with Slave positions. I specify an initial Master Position that corresponds to an ...
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### Madgwick sensor function algorithm: two issues

I am studying the popular Madgwick algorithm for IMU, and stumbled with two issues: In magnetic distortion compensation, he used the following: ...
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### Bluetooth pairing on Mac and Windows causes one to dismiss the other [migrated]

My company is developing a Bluetooth-enabled robotics kit. We have found the following to be true: Pair device to computer A (a Mac) Pair device to computer B (a Windows PC) Computer A is now unable ...
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### Connect 3S Li-Po Battery to 4 ESC

I have 4 ESC with Male XT60 Connector and the Battery has 3 Male JST connectors. I want to connect all 4 ESC to this one battery. I will have the following connectors: XT60 Male to XT60 Female ...
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### convert toolframe coordinate to world frame coordinates?

I am not sure how i should explain this, I am looking for a way to plot the trajectory an robot arm. An object is seen from the toolFrame frame, but how do I plot the position of each joint, such ...
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### Quadcopter starts at max speed

I am new to Quadcopters. Just recently started with 4, 1000kV motors 2 ESC with 490Hz / 2 ESC with 50 Hz (got it from eBay, just found from software) CC3D OpenPilot (now LibrePilot) FlySky FS-T6 (6 ...
37 views

### Configuration space obstacle - calculating collision

I need to calculate the configuration space obstacle to planning a path with a mobile robot. The idea is to divide the obstacles and the robot in triangles and test whether is there any triangle from ...
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### Cosine interpolation between two transformation matrices?

Is it possible to perform cosine interpolation between two transformation matrices? It make sense for the translation part, but how about the rotational part?
26 views

### Maximum distance for robotic arm throwing

I have a 6DOF robotic arm which I am using to throw a ball. Each joint can achieve a maximum velocity of 30 RPM (180 deg/s). I have been trying to generate joint angles manually and feeding them to ...
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### Vector Field Histogram: (VFH) Certainty value

Good day I am currently trying to implement a vector field histogram algorithm. May I ask if anyone knows what the certainty value pertains to? From my understanding it is like a point system for a ...
19 views

### How do I evaluate the minimum requirements of the processor and camera for a visual SLAM robot?

I would like to build a visual SLAM robot (just for self-learning purpose) but I get frustrated how I know which processor and camera should be used for visual SLAM. First, for the processor, I have ...
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### Holonomic and Non-holonomic UAV's: Gliders vs Quadcopters

Good day I would just like to ask if a fixed wing aircraft such as a glider(without thrust capability therefore needs external forces such as air flow to move constraining its movement) can be ...
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### Path planning for visual servoing

I am at moment trying to implement a visual servoing application. the robot I am using is a UR5, and TCP has a stereo camera mounted on to it. The idea is to move the end effector according to the ...
37 views

### Path planning vs. linear interpolation?

I at moment trying to convince myself that what I need is a simple path planning algorithm, instead of linearly interpolating between a current and a desired state. I am at moment working with an ...
17 views

### Automatic paint ball shooter [closed]

Wanting to make a robot that shoots in the target when ever it appears using a paint ball gun. Need to know the hardware to use,the mechanism to locking target and shooting.Really stuck up. ANY KIND ...
20 views

### Generalized Voronoi Diagram

I need to compute the Voronoi diagram for a map with some obstacles but I can't find any pseudo-code or example in MATLAB. The "voronoi" function in MATLAB works with points, but in this case the ...
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### Granite devices SimuCUBE [on hold]

SimuCUBE Problem I Lost Force Feedback and cannot detect PWM on STM32 Pin 40 (PE9) HSIN2 Help
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### The velocity profile of my robot is fluctuating

I am presently doing a robotics project. I am using USARSIM (Urban Search and Rescue Simulation) to spawn a robot. I am trying to create different behaviors, like: goal following behavior; ...
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### Which mechanical device could repeatedly present an ID tag to a card-reader

I'm trying to build a test-automation robotic arm which can repeatedly present an ID-tag (such as RFID or NFC card or fob) to a card reader. I suspect our reader fails either (a) after hundreds of ...
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### What are the biggest challenges to build an highly performant robotic hand?

When looking at the robotic hands made by researchers that are said to be rather close to a real human hand, they can easily cost tens of thousands of dollars. What makes them so much expensive? ...
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### Is this a practical setup for an Arduino recognition robot? More questions listed [closed]

I'm planning on creating a controllable robot that can do image recognition for a school project. Essentially, I have a Nexus 6P as the remote controller. I have a Nexus 4 that will connect via OTG ...
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### Brushless motor from RC car won't spin with even small resistance

I recently bought a RC car kit and after 10 minutes it stopped going. When I throttle, I can see the motor trying to spin but it will just grind and get hot quite fast. The motor does move if I ...
A reviewer of the last paper I sent replied me that the it is very dangerous to update a PID with next kind of formula (paper is about quadrotor control):  K_p (t + 1) = K_p (t)+e(t) (μ_1 (Pe(t)) + ...