# All Questions

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8 views

### How to create a 4 sensor PID wall follower

I need help creating a 4 sensor PID wall follower, which has two walls either side of the robot and the goal is to keep the robot central and not crash into the walls, the sensors are positioned in ...
12 views

### Model of two link rigid manipulator

I am working on parameter estimation of a rigid two-link manipulator as shown in the picture below. Unlike the cylindrical links shown in the above image, my robot has links of oval shape. So the ...
18 views

I am trying to figure out a more accurate way to calculate the change in the heading of a robot. I have two small omni wheels on either side of the robot facing forward and one on the right side ...
16 views

### What is the corrispettive motion convention for robotic systems with X,Y,Z axis?

We built several systems coupling multiple linear micrometric stages. I can't find a standard defining the axis convention of these kinds of systems, it there are any. Regarding the system on the ...
21 views

### Looking for aid in a project

I'm starting a project and it's my hardest yet I'm dipping my toe in to robotics by creating a odradek from the game death stranding I've laid out what the plans should look like and now I'm trying ...
15 views

### Drive axis with slipping gear

I'm looking for a name of the mechanic part (axis-gear combination) with the following description to use it in an automatic window control. I can't find this online to get parts due to the lack of ...
23 views

### How to compute associated (partial) Jacobian matrix for each joint of a serial manipulator?

Given DH parameters of a serial manipulator, the forward kinematics gives me T0n = T01*T12*T23*...*Tn-1n , n is the DOF of manipulator. I can calculate the Jacobian matrix J for the end-effector by ...
14 views

### Kinematics and dynamics analysis of manipulator in zero gravity

Is there any change in the analysis of kinematic and dynamic analysis of the manipulator which is working in zero gravity or microgravity?
14 views

### Options for low cost stereo vision [closed]

I'm looking into a stereo vision system for a low-cost student rover project, and am running into a few problems. Ideally I'd be using a Raspberry Pi and a pair of OV9281 1MP global shutter cameras, ...
19 views

### Choosing right motors for self-balancing robot [closed]

I’m looking for right motors for my first self-balancing robot. Design assumptions: robot height: around 120-200 mm robot weight: around 600-800 grams wheels: 80x10 mm or 90x10 mm battery voltage: ...
11 views

### How to charge Pixel Drone battery

I have recently received Pixel Drone Forever. However, when I opened the package and looking for battery charger, I realized that packaging company has misplaced charger with regular micro-USB charger....
33 views

### Converting from Modified to Standard Denavit Hartenberg

This is probably a noob question. But as of right now I am having difficulty converting from the Modified DH to a Standard DH parameters for the Franka Emika Panda. I need standard because it allows ...
18 views

### Implementing a high-level PID controller which uses odometry in diff drive wheeled robot

How I can implement a high level PID controller that uses odometry to couple both motors in a diff drive wheeled robot? This is my try: From the motor controller, I can get the estimated speed in ...
34 views

Is it wise / possible to use multithreading to handle control system on robot? For example, a line follower robot with PID control flowchart would be: read_sensor() -> calculate_control() -> ...
25 views

### Robotics: Solving differential equations using computer program

I am having trouble trying to do problem 2 of this robotics problem. Problem 2 requires making a code to solve the derived equations using computer programs such as Maethematica or Matlab. How would I ...
19 views

### DH parameters to compute the transformation matrix

Below is my code. All values of theta, d, a and alpha are known. How should I define T00, T01, and so on? function [T] = dhtransform(theta, d, a, alpha) T = [cosd(theta) -sind(theta) * cosd(alpha) ...
28 views

### Autonomous RC Car Competitions in germany

Together with a friend of mine and my professor, we were able to build a team and come up with our own self driving rc car. Due to time we didn’t manage to apply for Carolo-Cup, which is a very good ...
39 views

### What Battery Voltage to use?

Im currently designing a small robot that uses 2 of these 12v motors, which are manage by the L298N motor controller board, and is being controlled overall by an arduino. Now I have come across an ...
57 views

### Why am I unable to tune the PID parameters on my quadcopter?

I am building a nano quadcopter in X-Configuration with coreless DC motors, 65mm 2 blade propellers and a 1S Lipo battery (860mAh, 25C). The weight of the assembly is around 70g in total. I am ...
20 views

### How to obtain airspeed data

I want to measure the airspeed on a flying vehicle and get the data with a microcontroller. Note that, there will not be any control mechanism on the flying object, it will be flying mechanicaly/...
34 views

### Why do we connect pins 2 and 3 on APM to enable PPM

Why is it necessary to connect signal pins 2 and 3 via jumper on an APM2.8 board to enable PPM. I am using flysky fs-ia6b receiver with the APM mentioned above. Pins 2 and 3 control pitch and ...
14 views

### Measuring distance between known source and unknown object? [closed]

So I have a 'source' at a position in space (we would consider this source to be at origin), and an unknown object in 3D space. If I were to find the position of the unknown object in 3D space, how ...
17 views

### Waking Up Roomba Over Serial

Sorry if this is a noobie question, it's my first time posting on this forum... I've been trying to mod an old Roomba 400 series (model #4220) by adding a raspberry pi to it. (I know real original ...
25 views

We all know that the fly time of a quadcopter is proportional to its weight (and the propellers size, etc), and a high capacity battery is heavy, but also a high capacity battery would make the fly ...
26 views

### In a discrete bayes filter, why is noise in the sensor treated differently than noise in the motion

This question may be hard to explain or understand. I am studying Kalman Filters using this excellent resource. It divides up the process of a Bayesian Filter into two major steps, belief -> prior and ...
32 views

### How to make a diff robot (2 traction wheels front and 2 castor wheels back) to go straight?

I’m developing a differential robot. My wheeled robot has two castor wheels in the back and two driven wheels in the front. The motor controller I’m using can handle two motors each with 90 cpr. Each ...
30 views

### Corrupted Robot Model in Gazebo

I'm trying to run multiple instances (18 instances) of gazebo in parallel processes on my system to do reinforcement learning. However i'm running into an issue where the robot model in some of the ...
25 views

### I wanna make a raspberry pi car using an RC car. I would like to know if the servo multiplexer is necessary?

So I'm working on a project and it involves making a raspberry pi car, be it from scratch or with the help of can rc car. I chose the latter. Now the problem is I don't really have servo multiplexers ...
42 views

### How to implement path planning algorithm considering orientation?

I am developing GUI c++ program to test path planning algorithms: A*, Dijkstra, ....etc in occupancy grid map. I found many open source codes , but I need to modify them to design a GUI for testing ...
26 views

### Localisation of Robot in a Rectangle

I am wondering how to go about localising a robot in a rectangle drawn on a smooth surface. Basically, there is a tape that lines the shape of the rectangle, and the color of this tape is unique in ...
19 views

### Can supervised learning be used to solve the inverted pendulum problem?

I know that reinforcement learning has been used to solve the inverted pendulum problem. Can supervised learning be used to solve the inverted pendulum problem? For example, there could be an ...
24 views

### Make robot drive as far from obstacles as possible

I am trying to make robot drive around the room, avoiding obstacles with pathfinding. The problem is I get few waypoints from pathfinding algorithm for robot to drive to (green dots), but it drive a ...
31 views

### Articulated configuration

I'm reading Theory of Applied Robotics, 2nd edition by Jazar. The author states that articulated configuration has the following form: $R \vdash R \perp R$ where $R$ stands for revolute joint, $\vdash$...
35 views

### How to handle landmarks in Bundle Adjustment?

At the moment I try to understand Bundle Adjustment on a level to be able to implement it on my own. The major point I'm still confused at is the management of the landmarks. So, let's think of a few ...
26 views

### Trajectory tolerance limits

I have a trajectory planner, which calculates the trajectory assuming that the robot is following the planned trajectory. From sensors I get the position of the robot, which has an offset from the ...
31 views

### Diagnosing a lower torque on one motor of a Zumo Robot

I have a Zumo Shield. It is small and tracked, and contains two micro metal gear motors soldered to it. In theory, these motors are identical and do seem to rotate at the same speed. However, the ...
18 views

### robot movement steps

What does term "number of movement steps" mean in multi-robot exploration?. It is a performance metric for comparing results like exploration time and energy consumed by robots during exploration.
32 views

### Robot localization in a known map without knowing its initial position in that map

Firstly I would like to say that I'm no expert in Bayesian Filters such as Kalman Filter and Particle Filter, but I've used the EKF before in a robot that has both wheel encoders and an IMU to ...
12 views

### Sensing torque of stepper motor

I need to sense the torque of a stepper motor at any given time. I'm planning to tension a wire by using a stepper motor, and in order to keep the wire at a fixed tension I would need to know the ...
24 views

### How does one estimate motion from sparse encoders and IMU-Gyro data?

I have a robot which has (for simplicity) only one degree of freedom; it rotates about the z-axis (think like a crane), and has no slip. The shaft encoder delivers data in 0.1° increments, so when ...
24 views

### Can't run DC Motor with Arduino and Adafruit Motor Shield

I'm very new with Arduino and Adafruit and I'm trying to get a DC motor running with my Adafruit Motor Shield V2.3, but it's not running. I have connected the motor to the right terminal (M3). I'm ...
27 views

### Camera mounted on robotic arm - XYZ mapping

I have a 5 axis robotic arm that has a depth camera mounted near the toolhead on the left side. I have object detection software running on the camera and can find the XYZ of any object in mm that ...
40 views

### What's the difference between Pose Measurement and Position Measurement?

I have read a robotic related paper called Estimating SE(3) elements using a dual quaternion based linear Kalman filter, and the author proposed that the equation of position measurement is denoted as:...
36 views

### Very high value readings for light bumpers

I am reading out the values for the light bumpers on the Icreate2 robot. According to the manual, these values should be in the range 0-4095. Whenever I read out these values, they start out as well-...
21 views

### problem roomba 500 power saving scheduler

anybody experienced problem with power saving and scheduler command? I have roomba 521 with last firmware updated via OSMO, so now it has also power saving feature. I have problem with scheduler ...
60 views

I have developed a prototype of a CNC Machine with Arduino and Raspberry Pi for my first client, I now need to use industrial grade components, but I struggle with the hardware, I am confused. I just ...
9 views

### Will disconnecting the external compass enable internal compass in APM

Will disconnecting the external compass from an APM 2.8 enable internal compass automatically, if the compass jumper is not disturbed while setting up the external compass, i.e. the external compass ...
16 views

### Checking for external compass in mission planner

How can I check whether the external compass is really selected for my APM 2.8 using mission planner. The primary purpose of using the external compass is to have less electro magnetic interference ...