# All Questions

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### DC motors are stalling at low voltage (L298N controller)

I'm building a small tracked robot. Currently it's just a Raspberry Pi, two motors and an L298N controller. The problem I'm facing is that the motors are stalling at low voltages (which is what I ...
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### AC Motors vs Hydraulic motors for skid-steering robot

I'm designing a mobile robot with tracks and skid-steering driving system and I am evaluating whether an electric motor would be better than a hydraulic one. I did some calculations, the total weight ...
6 views

### Power supply requirement calculation as per date, want to know only motor power requirement

As per data, what is the required power supply need
14 views

### Understanding types of hand eye calibration

This is my first question, so pardon me for any mistakes. I have been reading about hand eye calibration for a couple days. Basically, I have 2 setups I want to execute hand eye calibration. Camera ...
15 views

### Ros sensor implementation

From this page, there are lots of sensors to be used in ros robots. http://wiki.ros.org/Sensors but I could not install any of them to the robots in my simulations. For example I want to install ...
11 views

### Compute tangential acceleration of a specific point using IMU data?

I have a question about using datas coming from an imu on a vehicle. The IMU is placed near the rear wheel axle of the vehicle. The reference frame for vehicle control is placed between rear wheels. ...
20 views

### Problem understanding a paper about visual odometry

I am reading the following paper: SVO: Semi-Direct Visual Odometry for Monocular and Multi-Camera Systems , and I am having some problem understanding some concepts. Before starting I have to say ...
14 views

### Self motion with multiple constraints

I am trying to control a 7 DOF robot (a Franka Panda). I use jacobian based control (resolved rate motion control) to generate a joint trajectory from a cartesian trajectory. My contraints for the ...
17 views

### I2c arduino connection

I am working on a wheel mobile robot which with multiple sensors which are IMU, two encoders, four ultrasonic sensors and using two Arduino: Uno and Mega. The IMU, encoders and the ultrasonic sensors ...
25 views

### Using Integral gain for motor positioning

I'm struggling to see how Integral gain is used for motor positioning (with an encoder on the shaft). Suppose we have an AC motor connected to a winch which drives an object forwards and backwards. ...
23 views

### What should be the prediction step in particle filter?

I am implementing a particle filter using MATLAB. I am implementing it first time. I have written the system model and measurement model. Given below: ...
14 views

### Use polynomials to detach number of MPC controls from size of time-horizon?

Model Predictive Control (MPC) works by finding a set of controls $u_0, \dots, u_n$ that minimize a cost function $J$ over a time-horizon $[t, t + T]$. Typically when MPC is used on mobile robots, ...
26 views

### Path finding: A* vs Fast marching

Context: I am working on a 20 cm x 20 cm indoor robot on a 2D terrain and I need to decide on its path planning algorithm. Algorithms: A* and Fast marching are two popular (and fundamentally ...
7 views

### What servo and controller to use on a o scale model to make a rocking chair move up and down [closed]

I’m trying to design a rocking chair to move back and forth on a O scale diorama and I would like to know what type of servo and controller to buy to achieve this
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### Understanding KGf.CM in Camera Robotic Head Design

I am attempting to design a robotic camera head - however, I am struggling to calculate the torque (in terms of KGf.CM) I will require to rotate the Y (tilt) axis of the head. The motor I intend to ...
17 views

### I want interpolate my data in python. How we can do that? [closed]

I have created 3D volume and then sliced that volume in horizontal planes. After that, I cut all the planes in different shapes vertically. I got some points on each horizontal plane. I want to ...
38 views

### motion model for forward movement

I thought this is a simple and well known problem and therefore there is a lot of literature. But I'm not able to find the correct keywords to google the answer. Maybe instead of answering the whole ...
23 views

### What is wrong with the assignment of X axis in 5DOF robot manipulator's kinematic diagram?

I tried to solve below question by Edx course. One part of the requirement was to assign frames and find the DH parameters of the given robot manipulator. I assigned the x and z axis as below and find ...
24 views

### How many DC's I need? [closed]

How many DC's I need to move 4 kg object? Speed doesn't matter. • Voltage: 3-6V • Amps: 80mA (6V no load) • Stall amps: 1200mA (6V) I couldn't find more specifications. Could you make assumptions ...
22 views

### Data collected from ROS

How can we collect the flight data after a ROS simulation and what kind of dataset do we obtain? Can we get the sensor and video dataset with timestamps to be used in analysis?
11 views

### Numeric integration problem in a quadrotor vertical descend code

I'm trying to implement a drone in vertical descend. As for maximum simplification, I maintain all its angles to 0, and just try to get to the my desired descend. However, when I debug, I see that my ...
41 views

### Applications of Reinforcement Learning

Many global-control applications of robotics involve incomplete world information and at best can be represented as a POMDP. Given this, can we really apply RL to most robotics applications? From ...
43 views

### Extended Kalman filtering for IMu and Encoder

I am trying to fuse IMU and encoder using extended Kalman sensor fusion technique. how do I fuse IMU pitch, roll with the orientation data I obtained from the encoder. Also, how do I use my position x ...
15 views

### Algorithm for Collision avoidance of Multi Robot system on a predefined path without external obstacles ( collision might occur only with one another) [closed]

I am trying to solve a question on junction management of multi-robot system (N number of robots) which have to cross a 4-way junction without collision with each other ( kind of like cars on traffic ...
28 views

### Verifying DH parameters. Unexpected Output

There is a rotating base joint #1 with z/joint axis pointing up and atop sits and arm with 3 z/joint axis facing away from the viewer. The elbow joint F2 has a kink before it of 90 degrees measuring ...
117 views

### How can I calculate odometry given two poses?

I have the pose at times t - 1 and time t. We are given: that the the new pose, at time t, is $$x_{t - 1} = [0,0,pi/6]$$ $$x_{t} = [0.2,0.1,(11*pi)/60]$$ (Where the vectors are [x, y, theta] with ...
21 views

### Link collision avoidance for redundant manipulator

I am trying to have my robot arm follow a trajectory while avoiding collisions between obstacles and the robot links. The way I go about it is to find the closest point on the robot arm, and treat the ...
29 views

### FPGA vs Neurochips for Control Systems [closed]

Greetings to all respected colleagues! I want to consult on the use of FPGAs and neurochips. I plan to use it in my laboratory project for programming control systems on neural networks. Please share ...
38 views

### Dual constraint non-linear optimization for SLAM

I am trying to achieve a nonlinear optimization for SLAM on a function that contains two different constraints, like this :  T_{opt} = \underset{T}{\arg\min} \sum_i(\left\lVert T.X_i - x_i \right\...
41 views

### Path planning algorithm better than RRT* and Artificial Potential Field

Hello robotics stack exchange community, hope my message finds you well during these challenging times. I need an opinion regarding path planning algorithms. Goal I am looking for a path planning ...
9 views

### Navigation Function : Sphere Spaced Set

The navigation function in a sphere spaced set is given by: Equation How do I determine the value of Lambda?
11 views

### Tuning a cascaded attitude and attitude rate PID controller

Assume that I have an object in 3D, and I want to have a controller that stabilizes its orientation (also referred to as "attitude"). To be sure we are clear: attitude is measured in "degrees" or "...
10 views

### accuracy GPS for height measurement [closed]

what is the maximum accuracy of GPS module including lat, long, and altitude. I need GPS module with max accuracy of altitude for height measurement.
28 views

### how to calibrate gyroscope using raw gyro data?

I wrote a simple code for where I take 500 samples with stationary gyro and subtract those offset values to get calibrated gyro data. Question: Is this much calibration enough to implement this gyro ...
30 views

### Good Software Projects for Aspiring Engineers [closed]

With the pandemic going on, our school has decided to officially shutdown all sponsored club meetings. Now that we are all digital, our robotics club was looking for projects that students can do at ...
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### How to create a jumping mechanism for a small robotic car?

I have to create a jumping mechanism for a small robotic car and was thinking about using a spring mechanism to do so. However, due to dimensions (16cmx8cm) and mass constraints (below 200g) I cannot ...
22 views

### How do I convert centre-returning joystick values to dual hobby-motor direction?

Currently my setup is: 2x hobby TT motors connected to a Pi Zero with a motor HAT Python script running on the Pi which runs a Blynk python client and controls motors via the gpiozero library Blynk ...
46 views

### Free 2 and 3d simulators [closed]

What physics simulators exist which are open source/free? AI Gym uses a proprietary for-cost physics engine making it nonviable.
22 views

### Does iRobot Roomba 606 have a wifi chip?

I just bought an iRobot Roomba 606 and am trying to customize it with create 2 documentation based on Roomba 600. I opened up the Roomba, and over the board, it says "R3 MAIN, WIFI". It doesn't say ...
20 views

### I want to Calculate the Joint Velocities and Angular Accelerations of 5 DOF Youbot kuka robotic arm

I'm working on an assignment where I need to derive Velocity Kinematics for 5 DOF Youbot kuka robotic arm manipulator. I want to Calculate the Joint Velocities and Angular Accelerations of 5 DOF ...