Questions tagged [mobile-robot]
A robot which is capable of moving from one place to another, usually of its own volition.
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Forward kinematics of spherical parallel manipulators with revolute joints
I found an article that can help in my investigations.
Forward kinematics of spherical parallel manipulators with revolute joints
The problem is solved for the following system of vectors, which is ...
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17 views
Ceiling Camera & robot - SLAM still neded?
I've got a question regarding the topic of SLAM. My composition consists of a mobile robot and a top down looking 2D camera with wide-angle lens. It is comparable to a survaillance camera mounted on ...
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12 views
Which development board should I go for while making a manual robot? [closed]
I'm planning to make a robot for ABU Robocon 2020 which is supposed to have the following parts:
4 x DC motors (with mecanum wheels)
1 x High RPM DC motor
Wireless receiver for controlling the motors
...
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1answer
27 views
Collaboration of mobile robot and survaillance camera - classic localization (still) needed?
Just started with the topic of mobile robotics..
so I'm still into concept making and little programming, but have not setup everything or tested at all. I got a (differential) mobile robot (lego ...
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1answer
30 views
How does scan matching find overlapping regions in two scans?
I have been reading about scan matching and so far I have gathered that scan matching tries to find the transformation (rotation and translation) which leads to the best match between overlapping ...
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29 views
Robot-telescope prototype controlled by a PC
Has anyone developed mechatronic systems for DIY-telescopes running a PC?
Please share your experience, knowledge and nuances (how you acquired current sensors, speeds, electric motors, about ...
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1answer
61 views
Modeling of Robots
There are mainly two approaches for controlling robots (mobile robots and static robots): 1) working with kinematic equations, controlling joint or wheel speeds , 2) working with dynamic equations and ...
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1answer
37 views
Can I apply a common voltage to a high speed running DC motor to stop it? Will it damage the DC motor?
I decelerate the velocity of my robot very quickly by applying a common voltage (eg. 24V to both the terminals using Motor driver) to the DC motors. Given, the motor is running at a very high speed ...
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20 views
How do I say if a system is differentially flat?
I am studying mobile robots, and I have encoutered the concept of differentially flat systems. I have seen that if a system is differentially flat, we can identify flat outputs, thanks to which we can ...
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1answer
26 views
Doubt on artificial potential field
I am studying motion planning, and I am focusing on artificial potential fields. I have seen that it consists in having a repulsive field for obstacles, and an attractive field toward the goal.
But ...
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44 views
When do I do motion planning?
I am studying mobile robots, and I am focusing my attention to the unycicle. I have a doubt concerning the motion planning part. In particular I don't understand when the motion planning is done and ...
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25 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: ...
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2answers
37 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 ...
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19 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.
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1answer
36 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 ...
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2answers
45 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:...
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1answer
38 views
Can I use experience in Game AI development to develop autonomous driving robots?
Can I use experience in Game AI development to develop autonomous driving robots? How much similar this areas?
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1answer
58 views
How to find inverse kinematic equations for a quadruped robot to make it walk?
I have made a model of quadruped robot (sprawling/spider type and not dog type) in V-rep and now I want to make it walk by using creep gait. (i.e moving 1 leg at a time)
As I understand, I have to ...
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3answers
66 views
Robotic arm servo motor- Not enough torque
I require your help regarding a problem I’m encountering.
I am a beginner in robot modelling. I am designing a robotic arm for agricultural use and I am having issues with the motors. I am using ...
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1answer
28 views
How to calculate the right needed Power?
Me and my team are building a robot and I need to calculate the Power of the motors. Through my research I found that I must know the needed torque for every motor and then convert it to electrical ...
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13 views
Integrating Arduino Cloud Platform into ROS
I have an existing ROS framework used for an autonomous driving vehicle. I am working on tests to understand how localization is affected by light. My existing hardware does not have a lux measurement ...
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1answer
30 views
How to calculate battery capacity for my robot system
I am part of a team and we build a robot. I know how many watts all the subsystems of the robot will need and I also know how much time we want to operate it. Our system will need 323.344 Watt and we ...
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30 views
Path planning for a unicycle
I am having some troubles understanding a concept regarding the path planning for a unicycle. Suppose I want to plan a path that brings a unicycle from the origin to the point $\begin{pmatrix}
1\\
1\\...
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1answer
28 views
What is the Control mixer block that is usually found in control schemes?
There is usually a control mixer block in control schemes in robotics. What is it and what is the functionality and where can I read more about it.
Reference to the paper: https://giuseppesilano.net/...
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1answer
48 views
how to use ROS navigation stack with 4 wheeled robots
I have a 4 wheeled toy car, with 5 motors, one on each wheel and one is used for steering. How can I use ROS navigation stack with this robot since navigation stack is used with differential drive ...
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1answer
26 views
Angular Velocities of CoM in Global Coordinate
The block diagram of the robot is shown as above. Here, $\phi$ is the angle between $X_v$ and $X_0$ (Yaw angle of the robot), and $\psi$ is the angle between $Z_b$ and $Z_v$ (pitch angle of the robot'...
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54 views
feedback linearization for a quadrotor
I am trying to develop a controller for a quadrotor using dynamic feedback linearization technique, but I am not sure I am doing thigs correctly. I know that for designing such controller I have to ...
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18 views
What is the ~tf_prefix parameter does?
I have a TurtleBot3 Robot and when I’m trying to do this command to start the nodes
(The ROBOT is real)
roslaunch turtlebot3_bringup turtlebot3_robot.launch
I’m ...
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2answers
44 views
how to implement a wall following controller for a TurtleBot3? (ROS - python)
I want to implement a wall following controller for my TurtleBot3 (with ROS system).
sensors which I have on the robot: lidar(360) and optional 2 ultrasonic sensors on the side (1 on left and the ...
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1answer
18 views
rtk-gps faster (60Hz) and cheaper?
The below rtk-gps measures position to about 1.5inches
for $1500 and an update rate of 5Hz on gps, and it measures
12.6mm x 4.6mm so that it would easily fit inside of
a 20mm-diameter tube-shaped ...
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2answers
54 views
Localize a Mobile Robot on a Mirror
I am currently busy with a project which requires me to construct a robot capable of cleaning a heliostat (movable mirror used to redirect sunlight). Heliostats are basically large flat mirrors that ...
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33 views
Mobile Antenna question
I have a rocket-shaped (tube-shaped) mobile 20mm in diameter. From a base-unit, 600yards away, I want to be able to send two floats (call it x and y) every 1/60th of a second (60Hz data rate [or ...
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3answers
114 views
How to control the velocity of a mobile robot?
I have a differential drive robot whose linear velocity and angular velocity is to be controlled. The current strategy for doing that is:
A high level path tracking module spits out the reference ...
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1answer
71 views
How does it get a bizarre term in triangle law of vector equation in a paper
I am reading the paper "Motion control of wheeled mobile robots"
at page 5, as we have the equation (34.7), i wonder how it contains $− dc(s)\dot s$ in side. As the triangle law of vector: $\vec{OP}=...
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1answer
58 views
What is the cheapest 20mm-diameter roll-angle-sensor (+/-10deg, 60Hz update) you have come across? [closed]
What is the cheapest roll-angle-sensor (10degree accuracy, 60Hz update) you have come across for airborne
mobile robots that have a 20mm diameter, shaped like a rocket? (The robot
is shaped like a ...
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1answer
32 views
Does Vehicle Yaw angle measures same at every point on it? If not, how to translate yaw rotation to COG of the vehicle from different point?
I am using an IMU to measure the yaw rotation angle of a car. I need to translate the rotation measured to COG of the vehicle. I can ignore roll and pitch as I am driving it on a flat surface. So, ...
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1answer
156 views
teleop_twist_joy with Logitech F710 Joystick force feedback error
I am using a Logitech F710 joystick game controller in ROS Kinetic Kame. I was able to perform jstest testing, and can see my joystick works well.
But when I try ...
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2answers
66 views
Variables that Improve SLAM
I have a general question regarding SLAM as I am not an expert on the topic. What are the variables that can improve map generation?
The ones I can think of are:
A higher resolution camera
...
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2answers
92 views
Why is behavior-based robotics not as popular as deep learning or reinforcement learning?
I am a master student in Germany and one of our professors is doing robotics research but with a different paradigm - the behavior-based robotics based on Subsumption Architecture developed by prof. ...
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7 views
2 NAO robots and a human interacting and exchanging an object
I need to solve the following scenario between 2 NAO robots and one human. Maybe you have advice which NAO accessory or builtin sensor is accurate enough to measure such a distance of 0,5 meters and ...
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1answer
43 views
Plot a map using wheel encoder and IMU data
I want to plot a map( with matplotlib or any other library ) using a wheel encoder and IMU data.
Eg:- For every 10cm robot moves it should draw line (in a graph) and draw angles depending on the data ...
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0answers
57 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 ...
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0answers
17 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 ...
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1answer
73 views
Free-floating sphere dynamics using Roy Featherstone's spatial_v2 toolbox
I am using Roy Featherstone's spatial_v2 to model a mobile robot. I encountered a problem so I went back to modeling a free-floating sphere to familiarize myself with the library and the algorithms.
...
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1answer
27 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.
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4answers
126 views
How to suck using vacuum only first sheet of paper from pack of paper?
We are designing robot that will pick and place sheets of paper. We have found an issue that it is hard to suck only first sheet of paper of paper pack. Issue occurs because paper sheet passes vacuum ...
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1answer
45 views
What robotic skills can I develop when working as a robot operator? [closed]
I find myself very interested to work in the field of robotics though my background is not robotics, I had a degree in Physics, master 1 in Hydrodynamics and this year I have studied just one semester ...
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1answer
44 views
Effect of platform speed (how fast it is moving) on the quality of SLAM
I want to know how big of on an impact does the speed of the platform on which your sensors are mounted have on the quality of the outcome of a SLAM solution. Are there are any methods that are better ...
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1answer
33 views
Path planning with potential field
Can shortest path be computed using potential field path planning algorithm? Or is it just for obstacle avoidance and navigative towards goal? As i studied potential field deals with attracrive/...
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24 views
D* path planning
I am studying D* path planning algorithm. It includes RAISE state and Lower state.
I studied many paper on D* and got to know that RAISE state k(X) h(X) + c(X,Y)) then
insert X into the OPEN list ...
