# All Questions

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21 views

### What would I need to be able to calculate the LiDAR confidence score?

According to the definition, the LiDAR confidence score is given by the intensity of light reflection. For example, in one datasheet, they mentioned that white objects within 6m have typical ...
12 views

### Where can I get a driver for the create2?

I just bought a create2 and wanted to connect it with my laptop. Unfortunatly my laptop is not able to recognice the create2. I suppose I need a driver to solve this. Does anyone know where a fitting ...
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### Is there a way to send commands to the Staubli CS9 from remote system via TCP/IP??(like ur_rtde, urx libraries for UR robots)

I am new to ROS development and Staubli robots. Though i have some prior knowledge on UR5e, I am finding it hard to understand the architecture of Staubli and its other programming interfaces (like ...
15 views

### Motion Tracking with Arduino Controlled Camera Slider

I have an Arduino-controlled 3-axis camera slider and I'm thinking of implementing a motion tracker that makes the camera move accordingly on the slider. How feasible is this during a 3-month period? (...
21 views

### Power pack and servo driver for robotic arm?

I have a robotic arm that uses about eight 7.4 volt volt high torque servos. (https://www.servocity.com/2000-series-dual-mode-servo-25-2/) I need to know what Kind of battery system I can use to power ...
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### i want to model the variable distance between two moving vehicles

please i need to model the variable distance between two vehicles, below the code that i'm trying to do , The code ...
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### Having Issues Importing and Using RLGlue locally with Python For Reinforcement Learning

I'm going through an online course on Coursera for Reinforcement Learning that makes use of RLGlue. I want to try to run and adapt the code locally, but am having issues using RLGlue, and not sure why....
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### May I get this robot arm to be controlled via drawing, not programming?

I got an Omron Viper 850 robot arm with a spindle mounted with a cutter. It is controlled via EV+ programming (EV+ is a programming language used in the ACE Adept Omron software to move the robot). ...
12 views

### 3D real-world coordinates detection of an object using Multi camera set up

I have multiple cameras that are stationary and provide a view of a certain area, and I have an object that has some markers on it and I am able to detect it, I want to gather the data from the ...
10 views

### Why reciprocal velocity obstacle generates oscillation free navigation compared to VO

I am tryin to understand this paper about "reciprocal velocity obstacles for real-time multi-agent navigation" and to compare it with the original Velocity Obstacle approach. I can not ...
38 views

### IMU gravity sensing

How are IMUs used to sense the direction of gravity? I have read a number of articles that talk about using IMU for orientation of flying robotics but I do not understand how. Could someone explain ...
22 views

### how to find the kinematic and dynamic model of the mechanism

enter image description here 5 links 4 revolute joints find the kinematic and dynamic model ,link 3 should be horizontal with ground and one end of link 1 and 5 there are sliders enter image ...
24 views

### Simulating a robot in the construction field [closed]

I'm thinking about a research topic that involves robots used in civil engineering specifically dealing with steel structures of buildings. If I choose to simulate the work of the robot in this area, ...
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### FABRIK Inverse Kinematics Convergence Proof For Multiple End-Effector Case

Below, I've linked the FABRIK papers, the first of which is particularly relevant to my question, as it shows the convergence proof for the single end effector case, and this makes sense to me. But I ...
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### time varying gain LQR vs fixed gain LQR, in finite horizon and infinite Horizon

Consider the dynamic system $\dot{x}=Ax+Bu$ and the optimal control formulation of $J = x^TQx + u^TRu$, with optimal linear feedback $u=Kx$ where $K$ is the gain matrix, and I use $k$ to denote time ...
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### Why does ROS2 claim to be “real time”?

ROS2 uses DDS, in the wiki it says that DDS is "The Data Distribution Service (DDS) for real-time systems is an Object Management Group (OMG) machine-to-machine (sometimes called middleware or ...
35 views

### How to design a PID controller for boat?

I have a boat with two trusters and a trajectory planner which is based on the bicycle model. In order to control the boat, the linear velocity of each truster has to be provided. The following ...
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52 views

### Calculating wheel linear velocity from body velocity

A frame {b} is attached to the centre of a robot chassis. The planar configuration is given by $(x,y,\phi)$ where $\phi$ is the angle between the x axis in {b} and the x axis of a fixed reference ...
47 views

### Wheel encoder Tick calculation

Sorry for being a newbie. Can somebody explain me how many ticks a wheel encoder would deliver (based on one complete wheel rotation), if I have a slice with 500 windows? Is the assumption correct, ...
33 views

### ROS2 Stereo View Fails And Stereo Image Proc Doesn't Show Anything

I have set up 2 Monocular Cameras as a stereo camera in ROS2. I successfully published the 2 rectified and calibrated images through the following formats: ...
30 views

### How to reset odom positions of robots while setting initial positions of robots in gazebo simulation through launch file

I'm in the process of creating a coordination system for a multi robot system. For that i currently have created a ROS based simulation in gazebo using Rosbot2.0 (Robot physically available as well). ...
17 views

### Optimization problem of the SPMs design

This article contains section 4. Optimization problem of the SPMs design https://www.sciencedirect.com/science/article/abs/pii/S0921889014001250 Tell me please, are there any special programs for ...
49 views

### Omnidirectional Movement for 3 Wheeled Spherical Omni wheel robot

I was watching James Bruton's video on his spherical omniwheeled robot and he was explaining how to go directly sideways. He explains this from 6:09 to 7:06. I didn't understand how the velocity of ...
75 views

### Jacobian of Euler's rotation equations

I propagate the attitude of a satellite in a free-floating, torque free environment from $t_k$ to $t_{k+1}$ by integrating Euler's equation of motion:  \dot{\omega} = [J]^{-1}([\omega]_{\times}[J]\:\...
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### Inverse Kinematics for a 4-DoF Leg

I am beginner in the robotics space and I am trying to apply inverse kinematics to robot leg that has 4 degrees of freedom. I do not know how to think about solving these problems, so any guidance ...
48 views

### Is higher jerk always better for reducing cycle time?

I'm interested in decreasing the cycle time (time to execute a given task) of a robotic arm. As in the title, are there any downsides to maximising the joint jerks of the robot? Naively, increasing ...
52 views

### Multidimensional obstacle avoidance

Artificial potential barriers are known that allow robots to avoid obstacles. They are constructed as follows. https://authors.library.caltech.edu/106548/1/2010.09819.pdf Can you please tell me how ...
14 views

### can't install smach_viewer on ros melodic

I tried installing smach on ROS Melodic with the command: ...
76 views

### Unparable Bluetooth module

I'm doing application in Android Studio that will scan for devices within reach of a phone. What it does exactly is not important. The problem is, that when I scan for devices, I'd get only the ones ...
23 views

### How to control the Dynamixel Motor in PWM mode without having it locked when PWM is zero

I want the motor to be free to move by hand when I set the PWM to zero. Instead, there is a torque that makes the motor still in one position. Is that possible to do?
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### Scale factor of Monocular SLAM (Simultaneous Localization and Mapping )

I am using ORB-SLAM3 with a monocular camera on a drone for Augmented Reality application. I need to know the absolute scale of the map formed by the SLAM. I cannot use a stereo or RBG-D setup. Tthe ...
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### How to use Jacobian Method for path following?

I am currently doing a personal project and get stuck in something as below. In this project, I am going to use the RRT algorithm on the ur5 robot to make it reach the target frame without any ...
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### How to setup ROS and it's GUI tools in local server and connect to local macbook

I recently started learning ROS and I am having Macbook (MacOS Catalina) which is not ideal for running ROS. So, I decided to install ROS in my local home ubuntu 20.04 desktop server and connect it to ...
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### How can I control an Irobot Create using Jetson Nano?

I have an irobot create 4400 model and I'm trying to use a jetson nano to send commands to it. I want to try this example that turns on the play led. I connected the tx and rx and gnd ports from J41 ...
31 views

### Rack and Pinion Gear for CNC

I am trying to build a small 3D printed CNC machine but can't afford lead screws as of now. I need to 3D print a lead screw or use a rack and pinion gear system. I am a little skeptical able the rack ...
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### Ardupilot - Dronekit Setting the Current Location of the Vehicle

hope you are all doing well. I am doing in a project in which I receive GPS data (Longitude, and Latitude) from an Android device via an SQL server. What I am trying to do is to send this Longitude - ...
54 views

### Servo motor vibration problem

I'm working on DIY robotic arm. Robotic arm has 5 servos. The problem is that servo motors are shaking. I found different solutions but none of them works. What happens is that when I connect one PWM ...
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### Relative scale problem

I am doing Monocular Visual Odometry, and I have problem with relative scale. Most of the time its value is between 0.8-1.1, but sometimes it goes crazy and it has value 3,4 and once it had value 25. ...
37 views

### Are there any problems with this design?

https://www.reddit.com/r/robotics/comments/nbqx55/does_this_design_for_a_leg_make_sense_description/?utm_medium=android_app&utm_source=share So essentially I'm trying to make a leg that's able to ...