# All Questions

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### Using the UBT-12HC Serial Bus Motor with Arduino

I recently bought this motor and am trying to figure out how to use it. I also need a driver as this Bus Servo uses omnidirectional Serial communication. That is why I also bought this TTL board. I, ...
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### Ground Truth Visual SLAM Data Set

Can you please point me to a data set that can be used to validate monocular visual SLAM? My vision for what this data set looks like is a series of frames, with ground truth pose, ground truth pixel ...
9 views

### I've got a few servo motor questions

How can I measure the amount of voltage I'm giving a servo motor? How can I give a servo motor the correct amount of power it needs to run at it's full potential? Say I had this motor: ANNIMOS 60KG ...
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I try to understand jacobian for robot control. I want to precisely understand how to build that matrix. Can someone advice me course which explain how to create that matrix on a simple sample? An ...
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### Where to buy pneumatic artificial muscles (PAMs) for Raspberry Pi? [closed]

I started getting into robotics last christmas after getting a Raspberry Pi as a gift. Over the past year I built a simple robotic arm that uses stepper motors. I now want to expand my portfolio by ...
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### What's the difference between factor graph optimization and bundle adjustment?

I see that in SLAM literatures, factor graph optimization is frequently used. While in Structure from Motion literatures, usually they use bundle adjustment. What's the difference between the two ...
8 views

### How to detect loop closures in 2D laser SLAM?

I am trying to build an occupancy grid map using odometry and 2D lidar data through graph optimization. I am not aware of any reliable loop closing methods using only the 2D laser scans. I have been ...
37 views

### Compute Maximum End Effector Velocity Along Path

Let's say I have a 2-link planar robot arm. The motors in both joints have maximum angular speeds that limit how fast they can spin. If I plan a path from point A to point B with a constant end ...
27 views

### Range of a heading angle [0,2π) or [−π,π)

Consider the unicycle dynamics in 2D plane: $$\begin{array}{l} \dot x = v\cos \varphi \\ \dot y = v\sin \varphi \\ \dot \varphi = \omega \end{array}$$ What is the range of the heading angle $\phi$? ...
20 views

### What should be my spray handle-servo interface for pull mechanism? [closed]

I am an electronics engineering student who recently started working on Arduino. As part of my efforts to wake up on time, I decided that I should make an automatic water spray alarm clock. I have all ...
17 views

### Calculate Torques & Forces From Jacobian Matrix

Dear Robotics Stack Exchange, I am trying to calculate the torques and forces for a 2DOF robot. I’m used the partial differentiation method to find the Jacobian matrix. I managed to find the ...
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### How to set “fast mode” in low cost DRO

I have this cheap DRO from Amazon/China https://www.amazon.com/gp/product/B00E7XFF5Q/ref=ppx_yo_dt_b_asin_title_o07_s00?ie=UTF8&psc=1 I'm able to read the values out of it using a small FPGA. The ...
16 views

### How to find Joint Angles or Theta for 7DoF Robotic Arm

I am trying to find the joint angles or at least theta to be used to find the Denavit-Hartenberg Parameter for a robotic arm (Baxter's right arm). I have the link lengths and such, but I don't know ...
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### Uniform and non-uniform cost maps [closed]

I can not find a clear answer on the internet about the difference between a uniform and non-uniform cost map. I am interested in getting an answer in the context of grid maps for robot navigation.
29 views

### Use 2 Cameras as 1 Stereo Camera

I have one Picamera and one normal USB Webcam and would like to use them together as one stereo camera. Is this even possible as the 2 cameras aren't exactly the same? I would like to use them in ROS ...
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### Self localization for 3 wheeled omnidirectional robot

I am trying to self localize a 3 wheeled omni directional robots using just motor encoders I followed the odometry method mentioned in equations 5,8,9 of https://bibliotecadigital.ipb.pt/bitstream/...
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### Difference between CHOMP and DRL

in terms of motion planning, what are the difference between gradient-based motion planning (for instance, CHOMP http://www.nathanratliff.com/thesis-research/chomp) and deep reinforcement learning? ...
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### Convert ECEF Velocity to NED Velocity

My GNSS modules gives me one NMEA packet with ECEF velocity. My doubt is about how i convert these 3 vectors to NED frame. Can i use the conventional matrix rotation MathWorksRef. If yes, i use the ...
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### Deduce all possible configuration for a given CONF param FANUC

I am working on the "CONF" parameter of FANUC Robots. The "CONF" param determine the pose of the robot (maybe to have only one inverse kinematics solution). This configuration is ...
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### solving the inverse kinematic via PSO [closed]

I want to create a Matlab script to solve the inverse kinematic for a planar manipulator with the optimization method (particle swarm optimization) PSO?
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### What devices can I use as a flight controller in a Quadcopter project? [closed]

I know that the flight controller is the heart of the quadcopter and a device which has to be considered greatly when building a quadcopter project. In regards to this quadcopter project that I'm ...
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### Trajectory Planning for Automatic Machines and Robots Book-page 365, is there an error ? it is not included in the Errata

the subscript of the last m-1 p and r why not is z ?, since it refers to 3D case.
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### 3-DOF RRR Manipulator Simulation With Matlab Simulink [closed]

I need the Matlab Simulink application for the 3-dof RRR type robot arm. Can you give me a hand please?
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### unable to publish values of costmap_2d occupancy grid

Here's how my code looks - costmap_2d::Costmap2DROS *global_costmap = new costmap_2d::Costmap2DROS("global_costmap", buffer); I have specified the ...
17 views

### Parallel spatial mechanism - DOF

The parallel mechanism is composed of a moving platform and a base (or frame) connected by four legs. Each leg is composed of five revolute joints numbered 1, 2, … 5 from the base to the moving ...
46 views

### Mobile robot behaviour [closed]

I want to ask people who have designed the control/behaviour system of the mobile robot? As far as I know, architecture might be implemented as a finite-state machine or a behaviour tree. What are the ...
28 views

### Eliminating drift generated from double integration of acceleration signal using Envelope Method

I'm trying to remove the drift generated upon the double integration of a noisy acceleration signal. But this question discusses only removing the drift upon single integration to generate velocity ...
33 views

### Elegant way to mathematically relate joint positions (without a root/base joint) for easy re-rooting?

I'm pretty new to robotics, but have learned about the tranformation matrices and how to relate relationships between joints using transformation matrices. I just wonder if there is a system that ...
18 views

### gear motor with encoder and Arduino Uno

I'm working on a project where using a gear motor with an encoder and an Arduino Uno. I have not done Arduino in a long time and am struggling getting it to do what I want. If you look at the wiring ...
32 views

### Stepper Motor: Direct Drive vs. Belt Drive vs. Geared Stepper Motor

I have built a juggling machine. Each arm is driven by a 4A 23mm stepper motor. The motors are each driven by a TB6600 set to 800 microsteps. By trial and error, I have found that the motors skip when ...
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### seeking details on ros::SingleSubscriberPublisher class

I recently came across 'ros::SingleSubscriberPubliser' class. The documentation describes it as 'Allows publication of a message to a single subscriber. Only available inside subscriber connection ...
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### How to remap /move_base_simple/goal to my own topic in turtlebot3_navigation?

I am running turtlebot3_navigation and want to make it subscribe to my own waypoints topic /my_waypoints rather than RVIZ's Set 2D Goal topic ...
47 views

### How do industrial robots solve the inverse kinematic problem?

I want to make a real-time end-effector position control simulation of a 6 DOF robotic arm. To do so, I should solve the inverse kinematic problem, but due to the complexity of calculations, it is ...
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### How to investigate the relation between planning frequency and control response?

I have a speed control system which is part of a hierarchical planning and control stack. The final output of this system is torque and the input is desired speed. The system is experiencing some ...
22 views

### Are there any analog data loggers for recording PCB 353b33 accelerometer datapoints for a minute or more?

I'm currently recording data points from an analog accelerometer(PCB 353b33) using a TDS3014B oscilloscope which has a Record Length of 10,000 points at a Sample Rate of 1.25 GSa/s. Since the ...
45 views

### Determining the turn of robot using gyroscope and accelerometer data

I have the "x", "y" and "z" readings of gyroscope and accelerometer. From these readings I want to interpret that wether my robot took a right turn or left turn. Can some ...
10 views

### Set global_frame and robot_base_frame parameters for costmap_2d::Costmap2DROS object

I am trying to use a costmap_2d::Costmap2DROS object to read the occupacy grid being published on the /map topic. How do I ...
28 views

### difference between the two constructors

What is the difference between the 2 pieces of code - ...
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### Significance of tf2_ros::TransformListener in constructors

Is there a reason that a lot of constructors in ROS based code take in tf2_ros::TransformListener as one of the input? I want to get an idea from the design ...
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### How to find Inverse Kinematics solution to 6 link manipulator planar robot using DH parameters

I want to find out the inverse kinematics solution of 6 link manipulator planar robot, using DH Parameters, but I don't know how to, I know how to calculate for 3 link manipulator but not for 6 links, ...
14 views

### Faulty GPS data on Serial Monitor

I am trying to interface Stonex S900A GPS with nVidia TX2 which has ROS melodic installed. The GPS data cable is a DB9 type (RS232). I connected a DB9 to USB converter with the cable and connected it ...
17 views

### How to implement PID position control for 4wheel mecanum robot?

I want to implement PID control on my 4 wheel mecanun robot. I want to give a position instruction to my robot and that it follow the following curves of velocity and position. The only feedback that ...
26 views

### Drone lost traj recovery

So I am using slam algorithm to localize the drone which is gps denied . The input to the slam algo is imu data and a video . Now after the first run of the slam algorithm it creates the trajectory ...
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### Is there a way I can achieve Torque control from pulse control?

I am using the Contec SMC-8DL Motion control card to control the Oriental Stepper motors via the AZD-C driver. The Contec helper functions only allow for sending pulses to the driver, is there a way ...
31 views

### Why Hydraulics and Not Motors?

I have noticed everywhere that professional robotics companies use hydraulics over electric motors. I want to know why that is. Why can they make custom electric motors that are really powerful. ...
46 views

### Attaching electronics to a very bad chassis

I had a misfortune to buy this very poorly made tracked chassis. I now have some Arduino-based controller to attach to it. I see three posts with what seems to be holes for screws, and two of them ...
35 views

### How to find angular velocity using pure pursuit algorithm?

I have implemented the pure pursuit algorithm for my differential wheeled robot as described in the following paper: http://www.enseignement.polytechnique.fr/profs/informatique/Eric.Goubault/MRIS/...
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### Displaying a GPS Route (By Waypoints) on Mission Planner with Dronekit

Hope you are all doing well. I am working on a navigation project right now. According to a starting and goal location, I use Open Route Service to create a GPS Route. I have the coordinates (lateral ...