# All Questions

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### How to get transform between two fixed frames using a camera

In my task, I have two manipulators: one 6 dof robot (Manipulator 2 as shown in attached link picture), and one passive arm (Manipulator 1 as shown in attached link picture). Both the frames 1 and 2 ...
12 views

### Robot manipulation with 3 rotational joints

I am attempting a practice question but can not understand how to approach the solution. Any help would be appreciated. Question Consider a robotic manipulator with three rotational joints, \$q=[q_0\;...
12 views

### Can't read slow (100 bps) serial data

I need to read the serial data from a controller. The serial data from the signal bus is 100 bits per sec(bps) and the vcc is 12 volt. There is only one serial wire. Each packet is 13 bytes. And each ...
7 views

### VLP16 phase locking

I don't fully understand the phase locking of a VLP16. Will the motor track the PPS so each PPS X number of rotations will have occured? Suppose I want to synchronize an external trigger camera with a ...
• 205
15 views

### AWS RoboMaker visualize Robot in Gazebo

I'm following the helloworld tutorial for RoboMaker, and when I have to launch the simulation application with the following command: docker run -it -v /tmp/.X11-unix/:/tmp/.X11-unix/ -u robomaker -e ...
14 views

### Obtaining state transition matrix for 16 dim state using Ackermann geometry

I've been trying to wrap my head arounnd the Ackermann geometry but I don't quite understand what the difference would be compared to the kinematic bicycle model in terms of the kinematic equations ...
1 vote
59 views

### How to use a PID controller for different kinematics robots

I implement different drive odometry for a robot. Trying to implement (proportional–integral–derivative controller) PID-based coordinate movements x, y, theta: ...
• 13
28 views

### Is there regulation of LiDAR in the public space?

Are there any regulations (in the US or the EU), plans to regulate or initiatives that think about the "pollution" with or amounts of laser emission in urban spaces in general and the impact ...
• 115
11 views

### How to deal with inexact pointcloud matching?

When running IPC(for example with SLAM) it's possible your next position does not have a point cloud which matches up with the prior point cloud due to resolution limits. How is this dealt with it? ...
• 205
58 views

### Force sensors output when inclined

So here is the context: I am working on a motorcycle simulator. It consists of a motorcycle frame mounted on different actuators (see picture on the left). In particular, the two actuators at the ...
• 11
27 views

### Derivation of EKF slam landmark initialization

I have read a couple posts which gives the formula for initializing a new landmark in EKF slam but the derivation is not given. EKF-SLAM initialize new landmark in covariance matrix Could someone ...
• 205
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### Is it possible to use coordinates to modify the floor into a polygon in Webots?

I'm using Webots to model an irregular polygon floor for a coverage problem. I want to define the floor using the coordinates of the vertices. So far I have been able to generate an irregular polygon ...
• 1
22 views

### TORQUE OF ARDUINO CAR

when an obstacle is in front, the Arduino car should turn left or right. But it is not turning properly. So, what can be the problem?
40 views

For a project I am building and programming my own flight controller. I have seen the implementation of a single loop PID controller. But after doing some more research I've found that a cascading PID ...
32 views

### How to determine if you've visited a potential pose when path planning in continuous spaces?

When exploring continuous space with planning algorithms, I recently utilized the kinematics of the robot, kinematic primitives (ie the controllable aspect of those kinematics- wheel/joint velocities ...
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### Screen Coordinates [ x, y ] to Pan and Tilt angles

So I have a pan-tilt system with an airbrush on top, the pressure is quite strong so that I can place the robot at a distance of at least 1.5 meters. I currently have normalized coordinates XY that I ...
15 views

### orocos ros integration, createStream causes execution to stuck in a loop

I'm integrating orocos with ros, basically i created a component that read data from some input ports and write on output ports that create streams, because i want to public this values on ros topics ...
• 11
24 views

### Why in forward bending knee orientation in quadruped legged robot require less torque in knee joint?

I'm trying to find answer in terms of physics explanation, why knee joint torque requirement is less in the forward bending leg orientation of a quadruped legged robot. I'm referring this article, in ...
17 views

### How to decide the drag constant of motors?

Hi I'm current working on building an AUV, and I'm calculating the allocation matrix for my dynamic system. But I don't know how to model the drag momentum of motors. I know in UAV, they model it by ...
10 views

### Robot odometry calculation On uC or on pc

I need to do odometry calculations but I'm contemplating where I should do it. I'm using a core i5 6th gen mini pc with 8Gb ram so it's plenty strong for a robot brain but my issue is with the ...
32 views

### robot_localization not fusing imu data

According to the documentation in : http://docs.ros.org/en/noetic/api/robot_localization/html/state_estimation_nodes.html I was able to transform the imu data header fram from "imu_link" ...
69 views

### Simulating robotic swarm

I am playing around with swarm robotics and trying to figure out a way to simulate it. Here is my dilemma: I am trying to simulate thousands of agents that will asynchronously communicate with local ...
• 103
28 views

### How to translate a joint configuration

I'm currently working on a basic implementation of the RRT algorithm to control my 6DOF robotic arm. But how can I reduce the node to be in the radius of the nearest node of my graph without using the ...
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### Docker container shows the same CPU % when running GigE camera with different FPS

I'm running a docker container that is running a GigE Lucid Vision camera with hardware triggering. I'm using ray to run the camera and process the images. I'm doing it to benchmark the application ...
1 vote
29 views

### How do you rotate positions from ENU-frame to body frame?

If positions are in the local frame of ENU (or ECEF - either works), how do you rotate that to the body frame of the device? Logically, I thought that I could use the pitch, roll, and yaw angles of ...
1 vote
19 views

### Modelling/Theory for Quadraped Robot Leg Example

I have been working on attempting to replicate the following robot developed by some MIT graduates. https://dspace.mit.edu/handle/1721.1/98948 Presently, I am trying to work out the model for a single ...
• 111
14 views

### Manually generate antipodal grasps for grasping

I am getting into robot manipulation using parallel grippers, and am learning about it, and programming grasping different objects. I have the 3D model of the objects I wish to grasp. The next step is ...
• 103
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### Roomba s9 -- no communication

I connected my Roomba s9+ USB port to my Windows 10 PC, which cannot detect it (nothing under Ports): I messed around a bit and updated drivers, and now Windows 10 detects Roomba as: I don't know ...
• 101
9 views

### Detect point contact, edge contact or a surface contact during placing an object on a real robot

We are trying to design a control for "placing" a object using robot that is nearly similar to human arm. How to detect if object has a point contact, edge contact or a surface contact?
1 vote
19 views

### How to Contol the RPM of a Micro Metal Gearmotor with Encoders (Pololu) using PID?

I use the PID algorithm to control the RPM of a micro Gearmotor. My motor and encoder specifications are given below. Motor: https://www.pololu.com/product/2378 - 6V 29.86:1 gear ratio - please ...
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1 vote
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### Which are the Euler and Runge-Kutta odometry formulas for a four mecanum wheels omnidirectional robot?

I have a omnidirectional robot with four mecanum wheels and I have computed its linear and angular velocities starting from wheel speeds expressed in ticks. Now, to compute odometry, I have to ...
• 11
9 views

### Roomba S9 - no data over serial connection

Unlike other Roomba models, for the s9 there is little to no information available for setting up and using a serial connection to a Windows PC. I've managed to get to the point where Putty serial can ...
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### How do I handle yaw wrapping when implementing a simple GPS lever arm correction?

I am trying to implement a lever arm correction. I have an aircraft with a gps antenna which is displaced from an on-board sensor whose GPS position I would like to know. I have the distance from the ...
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18 views

### dynamics manipulator libraries computation

As the title suggests. I'm looking for libraries that automatically provide the dynamic equations of a manipulator based on the kinematic details and DH table. From Spong's book, Euler–Lagrange ...
• 2,310
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### Suggestion for path following algorithm for mecanum wheeled mobile robot

I have a robot with four Mecanum wheels. I want to make robot follow different paths. The path information is given in x,y coordinates. I want to start from simplest controller i.e. open loop type as ...
1 vote
18 views

### Are there inverse kinematic solvers that accommodate translational joints?

(Disclaimer: I'm fairly new to this topic, so I apologize if I use some incorrect terminology, and corrections are welcome.) Normally inverse kinematics involves a kinematic chain of fixed-length ...
• 111
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### Pre-computation of likelihood field

In Thrun's Probabilistic Robotics, section 6.4 "Likelihood Fields for Range Finders", there's mention of pre-computing the likelihood field in practice, for the sake of computational ...
• 101
1 vote
32 views

### Move a Simulated Quadcopter in a straight line

I'm trying to move a quadcopter in a simulator from (x0, y0) to (x, y) in a straight line at a constant speed. The simulator takes x and y inputs in m/s. Altitude as an input is a constant value in ...
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33 views

### Mission planning vs path planning vs motion planning

I am struggling to understand the difference between mission planning, path planning, and motion planning. This answer on stack exchange clarified the difference between path planning and motion ...
• 163
12 views

### Does the Bayes-Filter perform a convolution in the prediction step?

I am watching the (fantastic) SLAM lectures of Claus Brenner, where he introduces the Bayes-Filter (Kalman-Filter, Particle-Filter, Histogram-Filter). He says, that the prediction step involves the ...
27 views

### Incorporating motion model in Graph Slam and Bundle adjustment

When doing global bundle adjustment how does one incorporate a motion model or IMU information? Does it simply impose a cost function in relation to how far away the expected location is of the robot ...
• 205
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### Difference between odometry and localization wrt determining robot's pose?

AFAIK, localization is used to determine a robot's pose from a given a map and sensor data. I know of statistical localization approaches which use particle filters to determine a robot's location ...
23 views

### 3-links Robot Dynamic PD Computed Torque Control

I am designing the PD control of 3-links robot using Simulink. I can't figure out what to do in the 'Robot' block to get the acceleration d_qq back to calculate the error. What is happening in this '...
17 views

### BLDC Motor characterization for a towing AGV

I’m working on an aircraft towing AGV and I need some assistance regarding the drive sizing. But first some technical data : 4 DC bldc motors Cogged wheel for caterpillar tracks diameter 65mm. ...
41 views

### EKF slam vs global bundle adjustment

How does EKF slam and the covariance matrix interact with global bundle adjustment? In particular the covariance matrix gives you a confidence on location but global bundle adjustment does not. How do ...
• 205
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### Error calculation in frenet frame

I'm trying to implement a model predictive control algorithm by using a space-based vehicle model in a road-aligned coordinate frame. I know that the lateral error in the cartesian frame can be ...
17 views

### Fusing two relative measurement sensors using extended kalman filter

I’m trying to fuse data from two wheel encoders and an optical flow sensor to localize a turtlebot. I combine displacement coming from optical flow sensor with imu to form the model for turtlebot. ...
65 views