# All Questions

4,411 questions
8 views

### Re/programming Tower Hobbies System 3000 STD TS-53

I have a box of motors (Tower Hobbies System 3000 STD TS-53) and plan on using them with an upcoming project. Thing is I can't find any manuals or docs for programming them in C/Assembly (or any ...
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### Related matlab code for end point deflection of a flexible robot manipulator [on hold]

I'm trying to model a similar robot manipulator as given in the following link. I would like to ask whether anyone in the community has dealt with such a problem and if anyone is having a matlab code ...
18 views

### Can you buy a torque-controlled motor? [on hold]

I'm reading a book on robot manipulator control, and it assumes that you have control either of the joint velocity, or the torque acting on them. It motivates this by stating that there is an inner ...
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### Aruco marker world pose estimation filter [on hold]

I'm estimating an Aruco marker's pose in the world, transforming the detected marker from the camera frame to the world frame using the camera world pose with an uncertainty. This camera pose ...
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### how to find space in point cloud larger than given l*b

Is their any method by using which i can find a space or gap in given point cloud which has size greater than given rectangle of size l*b or a circle of radius r ? So that my robot can make a path to ...
19 views

### iRobot Create2 ScratchX Firefox add-on (ScratchDevicePlugin.msi) could not be installed for Windows

I'm trying to connect my Create after following these steps and it seems the add-on (here is the name of the addon: ScratchDevicePlugin.msi) won't install because firefox says it appears to be corrupt....
9 views

### Robotic arm length Ratio [on hold]

I'm designing a custom welding robotic arm. i don't know how to select the ratio of the arm length for good area covered by the robotic arm. can you help me please.
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### Using buzzer for custom output on the Turtlebot3

Does anyone know if it's possible to use the built in buzzer on the OpenCR board from the RaspberryPI? I am writing Python code in ROS packages and it would be nice to get some audio feedback when ...
20 views

### how to introduce 2 inputs into a matlab block function that processes only one variable at a time? [on hold]

Using SIMULINK, I wanted to optimize 2 variables with the ant colony optimization algorithm; which is written in a matlab function block, the function is of type function y = f (x) it has only one ...
21 views

### PID Tuning. Does Setpoint Affect Gain for Tuning

So I understand that a heuristic way of determining values for PID would be to use the Ziegler method, having zero I and D and then adjusting P until you have oscillations. Wouldn't the setpoint ...
14 views

### setting custom variables on catkin workspace environment

I am developing a package for the ROS, in fact it is a package of resources / models for the Gazebo, and I need with the presence of this package in the Workspace of Catking, to be automatically set ...
30 views

### Encoder values for pid control

Im working on a two wheeled robot and im trying to implement a pid control for the motors. But i have a problem, all sources i found online said i have to calculate the error with my encoder values. ...
61 views

### Relationship between the velocity twist Jacobian and the spatial velocity Jacobian

While reading Kevin Lynch's "Modern Robotics" [1], I came across a fundamental question concerning the manipulator Jacobian. Upon better reading and further cross-checking with Peter Corke's "Robotics,...
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### Forward Kinematics Frame Simulation in MATLAB

I've worked out the T matrix of the tip (position and orientation) with respect to the base frame of a 6 DoF robot for 2 seconds at 1kHz. So the size of the total T matrix is 4*4*1000. How can I ...
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### Force sensor that measures position and force along multiple different points

I am looking for a force sensor that is able to measure the position and force along different points of the sensor simultaneously. For example, I would like to measure the position and force of 3 ...
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### Sensor fusion - Kalman for two identical position sensors

I require a little help in the implementation of my filter. I am currently working with two Leapmotion devices for the physiological study of hand vibrations. For this we call each of the devices "L ...
46 views

### Why do we need to design controllers (feedback) for controlling a quadrotor?

For example if I want to make my quadrotor hover at a particular height, can't this be achieved by using an altitude sensor, and to correct it's position due to disturbances, can't we just write some ...
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### What would be the most logical and cost effective choice of motor for a heavy biped robot? [closed]

I've been wanting to start up a project using arduino for a near-scale humanoid robot recently, but I'm unsure as to what type of motor I should use for high torque and precision. I've considered both ...
19 views

### EKF-SLAM's Jacobian wrt to landmark

I have looked at the following two links: stackexchange and this code. I do not understand why the Jacobian wrt to landmark position is the following: ...
23 views

### Doubts in the implementation of a Kalman filter to merge position data from two identical sensor

I'm currently working on the implementation of a system for calculating the vibrations of a hand using two Leapmotion devices, these devices deliver in real time the spatial location (x,y,z) and the ...
33 views

### Quadruped walking - Inverse Dynamics and/or virtual model control

This question also refers to the same robot quadruped model i has mentioned in earlier questions. To give a brief intro, I was working on a project to build a walking/balancing quadruped. Since i ...
29 views

### Can I program my roomba to run essentially all day (except for charging, of course)?

I'm an artist with basically no programming background. I need to make my roombas (3 of them) move around a gallery space throughout the day and night (the gallery will be visible from street view 24 ...
23 views

### linear synchronous motor selection for laser cutter [duplicate]

I'm studying a course on linear motors and an assignment has been given for which i have to select the linear motors for a laser cutter assembly. The problem is that I don't have an electrical ...
18 views

### LQR Controller in Raspberry Pi C++ [closed]

I am a newbie in Raspberry Pi and I don't know anything about Ubuntu, or ARM, etc. so please be patient in answering me and please, please guide me step by step. But I know how to run codes in C++ ...
81 views

### Control system in Matlab with RSA encryption

I want to implement an encrypted controller in Matlab using RSA. I am trying to replicate what is written in this scheme from 'Cyber-Security Enhancement of Networked Control Systems Using Homomorphic ...
27 views

### How to implement end effector orientation in generic IK solver

I am trying to script a basic, lightweight IK solver with a Jacobian Transpose method. I have gotten a basic script that reach the desired position very quickly. What I am not able to do is achieve a ...
84 views

### A* search results in path too close to obstacles

I have a configuration space as below with several obstacles. Green circles are all the points I need to go to. Blue line is the path returned from A* search. However, I am looking for path that's ...
28 views

### ROS CMakeLists.txt confusion

I am using Ubuntu 16.04 LTS with ROS Kinetic distro. I have a custom package called gps_msgs in my catkin_ws directory. I have other two packages that utilize the message by including it into source. ...
30 views

### why innovation equation in Extended Kalman filter is called innovation?

In the extended Kalman filter for SLAM, why the innovation equation is called innovation? Is there any reason behind it?
33 views

### lb1847 stepper controller :how to connect to grbl atmega based board with step ,direction,enable , limit? [closed]

i like to use lb1847 chip with stepper motor "both salvaged from old copier" i made grbl atmega board , this board gives step ,direction,enable and limit leads so i tried to find corresponding pins on ...
21 views

### How to limit a robotic arms 's rotational movement to 90 degrees with Adams?

I want to limit a joint's movement so that instead of rotating its whole 180 degrees in workspace, just rotate 90 degrees and back, using Adams simulation application. Can anyone help?
32 views

### 3D mapping on spinning 2D unit, and Lidar Resources?

Very new to Lidar but I am seeking to use Lidar in a project and have a Spinning 2d unit I made with garmins v3HP but. Now I am caught up on mapping, I was wondering if it was possible to do things ...
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### Does Create 2 have a built in optical interface (IR remote) using the Open Interface Spec

I was starting to work on the Arduino interface (and Raspberry Pi) using the USB serial cable for the Create 2 , as a baseline to build other outer loop controls. My wife asked me why I would do that,...
56 views

### Jacobian of a 6DOF arm

I have a robot with 6 DOF. I read a lot of tutorial on how to compute the Jacobian, but usually all examples are for planar robots with 2DOF. I don't understand how can I get the Jacobian of a 6 DOF ...
44 views

### Raspberry Pi Robot Car won't drive straight, right wheel is faster [duplicate]

My Raspberry Pi car bot will not drive straight at all. After examining and listening to the two motors, I noticed that the right wheel is a lot faster. I have matching wheels and the same code ...
46 views

### what is the algorithm to get position (Linear displacement and linear velocity ) using IMU (Like MPU6050)?

So I have been working on a drone project for a very long time, now I decided to work on Kalman filter which is used widely nowadays like Ardupilot. I looked at the source code so basically understand ...
66 views

### python code for closed form inverse kinematics solution

I solved the inverse kinematics of a 4DOF robotic arm (which is not planar) and I wrote this code bellow in python. The coordinates for each joint is: I considered the first three joints as a wrist ...
43 views

### Doubt with linearization and discretization process - Ekf

In the paper "State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU", the authors describe the application of an extended kalman filter to estimate states of a quadruped ...
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### Incremental (on-the-fly) smooth trajectory interpolation algorithm from waypoints?

short version (TL;DR): I'm receiving x(t) waypoints "online", which I must travel through at the specified times. I need an algorithm that would plan a smooth trajectory in-between them without ...
30 views

### What is the front mechanism of this robot's track called?

What is the mechanism on the front of the tracks of this robot called? They are also tracks, but they are able to be moved by the operator, and they are able to function as tracks. I've only seen ...
43 views

### smooth robot 3D trajectory using graph optimization

I want to solve a trajectory smoothing problem using graph optimization. I have asked questions on how to solve this problem in a previous post and got directed towards using graph optimization. I ...
29 views

### Robitic Bicycle

What ways could the bicycle be improved on by robotics for a dyi project? Could a bicycle be made to stand its self up and return to base or ride along side you while jogging like a drone? I'm ...
46 views

### How to cope with an optical window limitation on 2D LiDAR?

I have a very small and cheap robot and I wanted to mount a 2D LiDAR on a bottom of it (3cm above the ground). It seems to be great as during the mapping the lidar will detect even small elevations ...
33 views

### State Space Model of Brushless DC

I am working on a project in which I want to use State Feedback Control to position control a BLDC motor in combination with a motor controller. I want to do this since translating time domain ...
37 views

### How do I compute the translation and rotation velocities of a robot

I am stuck at computing the translation and rotation of a robot moving onto an ellipse given by: $$p(t) =(m) + \cos(t)∗a + \sin(t)*b$$ where m = center of ellipse and the two axes a (horizontal) ...
33 views

### Transformation matrix between a 2D and a 3D coordinate system

I have 2 sensors : one has 2D coordinate system and the other has a 3D coordinate system (not same origin). Knowing the positions of some corresponding target points (used as fixed reference) in both ...
13 views

### Sensor Model Occupancy Grid Map

i am currently working on a particle filter based slam system that uses an occupancy grid map. My problem currently is the sensor model to update the map. I want to use this Algorithm to update the ...
44 views

### Map initialization problem in Mono SLAM

I'm reading and trying to implement the paper Monofusion(V. Pradeep, C. Rhemann, S. Izadi, C. Zach, M. Bleyer and S. Bathiche, "MonoFusion: Real-time 3D reconstruction of small scenes with a single ...