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9 views

IMU based joint angle measurement

Let us assume we have a two 2-DoF robot. Both axes rotate around x. And the goal is to measure the joint angle values with the roll value from IMUs attached on each link. However, the problem is that ...
1
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0answers
6 views

Controlling Actuated Robot Hand in Underactuated Manner

We have an allegro hand in our robot, and it is in actuated behavior. In other words, each joint is controlled one or more than one actuator, that is motor. There are 3 actuators for each finger, ...
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1answer
32 views

Jumping motion in point to point movement

I have one question about point to point movement. Let's say the end-effector is placed at $(0,0,0)$ and the goal position is at $(10,0,10)$. The corresponding joint angle value changes $d\theta$ can ...
1
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1answer
43 views

Path Planning algorithm

The broad question is this; given an occupancy grid and the robots current pose (x,y,theta,theta'(first derivative)) how should I plan motion for my robot with the following constraints: shortest ...
2
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0answers
15 views

In SLAM loop closure, What does a sim3 matrix do?

I am confused between 3D rigid affine(with scale, without shear) transformation and Lie group's sim(3) matrix. 3D affine would be [sR|t; 0 1]. we rotate, scale and then translate a 3D point using ...
1
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1answer
21 views

Max motor voltage for RoboClaw controller

The RoboClaw data sheet from ServoCity mentions various current limits, but what about voltage? Can I run a 110 Vdc treadmill motor?
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1answer
22 views

Do I need to use Inverse Kinematics if I have the coordinates of all joints?

So I have the positions of all the joints (x,y,z) of a robot arm. I need to calculate the angles of the joints to feed them to another similar robot arm. I cannot get the angles from the robot I need ...
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2answers
32 views

Picking up a cheap timer

I am currently working on ATmega328 timers. But it has maximum timer of only 16 bit. Even with a prescalar of 1024 and 16MHz clock, I can only produce a time interval of about 4 seconds. Although I ...
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0answers
21 views

Why are there no robot tradesmen like automobile mechanics or plumber? [on hold]

I am new to robotics. I was wondering why there are no robot plumbers or auto mechanics? Is this due to technical challenges or is it due to economic reasons. Thanks
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1answer
21 views

What is the definition of the contents of PointCloud2?

What does the contents of PointCloud2 means in ROS? fields.offset? fields.datatype? ...
0
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1answer
20 views

How to sent commands

I bought a Create 2.0 last week and it does not have any manual to control from my computer, so I have two question How can I send commands to my Create 2.0? And what programs can I do?
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1answer
13 views

Path planning or 2D Mapping

i want to collect some ideas about this video. https://www.youtube.com/watch?v=q-ZDB8xqI7M Is the Left Vacuum cleaner using some 2D Mapping or OpenCV to navigate through the room ? Or is it just a ...
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1answer
22 views

Looking for solution to 6R inverse kinematics

I graduated from college a few years ago and over that past year have been trying to self-study robot kinematics. My long term goal is to purchase a used industrial robot and retrofit it with a real-...
1
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1answer
19 views

Help understanding decoupled inverse kinematics

I've been researching decoupled inverse kinematics with respect to industrial robots. The assumptions made in the decoupled equations greatly simply the equations, however I am having a hard time ...
0
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1answer
26 views

Effects of distance between wheels on differential line following robots

I have been working on a line following robot for a line tracing competition. It has 7 IR sensors for line detection and the robot size is limited based on the competition rules. The robot structure ...
0
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0answers
21 views

Implementing a square root Kalman filter

I'm attempting to implement a square root filter in C, translating it from Matlab in order to run the filter on an embedded target. I've implemented the Matlab square root filter as detailed in these ...
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0answers
22 views

Catching drift from IMU with if…else

recently I tried to measure yaw angle with MPU6050 and MahonyAHRS algorithm. As expected, the yaw angle consistently drifts. But I could see that the changes caused by the drift are much smaller ...
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0answers
15 views

How to estimate yaw angle from magnetometer and gyroscope?

I'm using the MPU9250, it measures acceleration, magnetometer, gyro, etc. Complementary filter tutorial for this is here, however this tutorial does not have a magnetometer and I do, thus I thought I ...
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0answers
14 views

How can i connect bluetooth device to two devices [closed]

Hie am using boat wireless Bluetooth device. I wanted to connect my Bluetooth device to connect to both my mobile and phone at the same time.
0
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0answers
15 views

Sampling from guassian distribution for odometry based motion?

I am trying to generate an odometry based motion model as described in the lectures. I have implemented a C++ version of the code. The issue I am having is that when I try to simulate successive ...
1
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1answer
25 views

Sampling time selection

I'm trying to design a compensator for a pendulum type plant with arduino mega. As you can see from the picture, the system bandwidth is 9 rad/sec. I calculated the sampling time as ws=10*wb=90, so, ...
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0answers
17 views

Dynamics of a mobile robot (Roy Featherstone's spatial_v2 toolbox & Simscape) [on hold]

I am using Roy Featherstone's spatial_v2 to model a mobile robot. I have a Simscape model of the robot that I use to generate test case and I encountered a situation that I don't understand. I have ...
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0answers
3 views

Advice for suspension 101 for a small ATV robotic platform [duplicate]

I'm a recent grad from mech. eng. program and going into robotics field. I want to design a suspension for a small ATV robotic platform on 4 wheels that carries max 75 kg load. I might use the wheels ...
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0answers
16 views

Advice for suspension 101 for a small ATV robotic platform [closed]

I'm a recent grad from mech. eng. program and going into robotics field. I want to design a suspension for a small ATV robotic platform on 4 wheels that carries max 75 kg load. I might use the wheels ...
0
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1answer
30 views

How can I control continuous servo motor at specific angle with PCA9685 and Arduino Uno? [on hold]

I am using MG996R continuous servo motor with PCA9685 driver and Arduino Uno but I can't stop it at a specific angle...pls help me out...how can I control it..
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0answers
15 views

The wide range of suction cups

I noticed that there are heaps of suction cup types for vacuum arms, but how to tell which cup type should be used when? The way I read it is, for bigger and heavier objects, a cup with a large ...
3
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1answer
35 views

Robotic arm chassis

I've been curious about how the plastic chassises of the robotic arms in robotic competitions are manufactured. For instance, the following arms clearly have 10-20 plastic parts each, if not more: ...
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0answers
10 views

Configure dynamixel motors

I don't know where to post this. So maybe here. Sorry if it's not the right place, and please point me to where I can ask this kind of question. So, anyway, I'm trying to learn to control dynamixel ...
0
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1answer
22 views

Any Free Online Resource That Can Help Me Understand Sensor Fusion? [closed]

Do you know of any online book/lectures/videos/etc. that can help me go from zero to hero in understand sensor fusion and all the algorithms related to it (like particle filters and Kalman filters)? ...
0
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2answers
35 views

Relative quaternion to global with uncertainty

in this perfect tutorial i found how i can compose two poses with uncertainty and how i can transform one representation to another with uncertainty http://ingmec.ual.es/~jlblanco/papers/...
1
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1answer
38 views

Do self-driving robots use object-level SLAM?

How do self-driving bots usually deal with transient objects, e.g., parked cars on the side of roads when they can come and go? These aren't moving objects at the time of capture, but they do move at ...
0
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0answers
12 views

Visible light sensors for line follower

I'm making a second version of my line follower robot and I'm thinking what are the line sensors going to look like. In the previous version I've successfully used IR LEDs and IR phototransistors, ...
0
votes
1answer
26 views

How to get position (X Y values) from a USB optical mouse

I want to use an optical mouse to measure displacement in X and Y direction of my robot. I'm using Ubuntu mate 18.04 on raspberry pi and wrote the following python code : ...
3
votes
1answer
61 views

How come LIDAR is not commonly used for indoor navigation?

I'm reading this survey on the state-of-the-art techniques for indoor positioning and navigation. I noticed that LIDAR isn't mentioned at all in the paper. Is LIDAR not meant to be a common method for ...
0
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0answers
11 views

Tips/Tricks for Initial Guess of the Joint Variables in Inverse Kinematics

It seems like there should be a set of best practices or something to reduce the iterations of the Newton-Raphson method to the inverse kinematics. Does anyone have any tips or tricks for choosing an ...
0
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0answers
10 views

Effective forces on an object for grasping

For example, a robot or a humankind is grasping an object such as a bottle. Which forces are effective on that bottle ? This is my opinion: When we grasp a ...
1
vote
1answer
20 views

Accelerometer and gyroscope noise and bias

I am doing an EKF (Extended Kalman Filter) to fusion Visual Odometry with IMU information. I am using a ROS package called ethzasl-msf (I am using the multi sensor fusion because then I have to add ...
0
votes
1answer
12 views

Need Suggestions for real-time number or object detection with Arduino + MATLAB? [closed]

I'm working on a line follower robot. its a kind of waiter robot. and i am facing problems in detecting customer table. can you guys please suggest me some ideas to detect customer table. i want to ...
0
votes
1answer
10 views

Mavlink data parsing offline from buffer, on Linux in C

I am a beginner with mavlink and even pixahawk. I need to just parse mavlink data coming from pixahawk. (Mavlink v1, pixahawk v5plus), on Linux PC (Ubuntu). I have 2 processes in context of this ...
2
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3answers
271 views

State of a Robot

I saw the expression "robot state" in many articles and resources, but I could not understand what that exactly mean. What does state of a robot exactly refers to ?
1
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1answer
25 views

Why do strong rotations affect Monocular Vision based Visual Odometry?

In context of the paper Semi Dense Visual Odometry for a Monocular Camera J Engel, J Sturms, D Cremers At page 7, last paragraph the author writes The achieved tracking accuracy for two feasible ...
0
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1answer
24 views

How to access raspberry pi over wifi

I have to use raspberry with Arduino on a mobile robot. And access raspberry pi on pc through WiFi. Is it possible? Please explain how to do it.
0
votes
1answer
29 views

Automatic forward and reverse Brushless Motor

The video Here shows a motor using rotational motion to move a load forward and then reverse back, without manually switching it to reverse. How can I program my brushless motor to operate like the ...
0
votes
1answer
16 views

Compute vector of attraction plus repulsion forces in a 2D force field mapping

I'm developing a force field mapping of a two-dimensional space to move a robot to a goal avoiding obstacles. My problem is that I don't know how to move it using attraction force and repulsion ...
-1
votes
1answer
27 views

Is not this guy using a flightcontroller?

I know this will not be a good way of asking something but I cannot think a better way. In this video : https://youtu.be/wg8ZbiC9IBw He builds a fixed wing an makes it fly, my question is related ...
1
vote
1answer
29 views

Potential field algorithm implementation

I'm studying robotics at the university and as a practice, I have to implement potential field in the simulator (I'm going to use ROS and Gazebo). I'm having troubles about how to implement it, ...
0
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0answers
26 views

Are all drone propellers compatible with all brushless motors?

I want to build a drone using these motors https://www.banggood.com/Wholesale-SunnySky-X2212-KV1400-Brushless-Motor-For-RC-Models-p-60577.html?cur_warehouse=CN and these propellers https://...
0
votes
0answers
25 views

Why my kinematic diagram is not giving the same position and orientation while forward kinematics test?

I am sharing my matlab code so that you can also generate the simulation . ...
1
vote
1answer
27 views

PID tuning - can't get stiffness without going unstable

I'm trying to tune a low-friction actuator. This actuator is controlled via a 24peak amp drive. I'm running into the problem where the system goes unstable prior to reaching good stiffness. I start ...
1
vote
1answer
23 views

PID control: zero out integral on error sign change?

I am learning about PID as a novice to robotics (background in software engineering). One common problem with PID is that if the PV is below the SP for a long time, integral term will accumulate a ...

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