Questions tagged [motion]

the action or process of moving or of changing place or position

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0answers
34 views

Potential FIeld Calculation

We have to implement an algorithm for potential field path planning. I have implemented so far everything for this formula: ...
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19 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? (...
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1answer
62 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 ...
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10 views

How to Calculate Individual Axis Commands Out of 5 Axes G-Code?

I am dealing with 5 axis CNC machining time prediction. I would like to ask the question with providing some background and mentioning the constraints which what I concluded from some of the ...
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23 views

Why isn’t my shaft moving? [duplicate]

When I put my shaft through the vehicle body (small robot) and have the motor attached to it through two rotating gears, the shaft isn’t rotating? I think it’s due to how the hole diameter is the same ...
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28 views

Can we reduce pitch of a lead screw to reduce backlash of the lead screw?

In gear design, the backlash is introduced in the design itself (not by tolerances of manufacturing) to allow free meshing of the gears. The backlash in the design can be minimized by reducing the ...
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36 views

ICP results as command in odometry motion model

im going through the odometry motion model proposed by Thurn in Probabilistic Robotics famous book and i have some questions concerning the kind of command that we can use. I will explain more my ...
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1answer
41 views

Real Time Motion Control [closed]

How is real time control normally handled? Do you run a separate motor control unit which has its own RTOS or is there some other way?
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4answers
72 views

Name of imitating motion technique in Robotics

This is my first question here and I'm not into this thing at all. I recently saw a movie named Pacific Rim and in that I saw a technique in which a robotic arm imitates human arm(in the beginning of ...
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1answer
126 views

Can ROS be an alternative for a KFLOP or RUMBA Board?

I have a few questions about controlling robot arm motion. I see that some have used Dynomotion KFLOP and other CNC motion controllers to control arms. Some have used Rumba board as well as several ...
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21 views

Maximizing the Coefficient of Friction Between Two Surfaces

I am new to this site so please let me know if I can improve my question. A component of a robot I am designing includes a four-wheeled carriage that travels linearly on an aluminum surface. The ...
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1answer
25 views

Can badly tuned Feedforward still decrease steady-state error?

Let's say we're trying to control the speed of a motor to 20 revs/sec, and we know that our controller output for that speed is approximately 5. We currently have a Proportional controller to drive ...
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1answer
35 views

Bump and turn toys: how do they work?

I remember that when I was a kid, in the 1980s, I had some toys made in Taiwan that basically worked like this: they moved forward uniterruptily until they bumped into an obstacle; then they moved ...
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1answer
78 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 ...
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3answers
43 views

A powerful pull/rotate device that provides a certain (controllable) force?

I don't know how to call the device I'm looking for (or need to create), maybe you can help me with terminology too so I can at least search.. I want something that either rotates or pulls with a ...
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1answer
26 views

Observed position update after motion of the robot

The equation (14) in this paper, $$ P_{Cj}=RP_{Pj}+T+e_j $$ where $P_{Cj}$ and $P_{Pj}$ are the observed positions of feature $j$ prior to and after the current robot motion, $R$(otation) and $T$(...
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67 views

How to quantify motion?

I am working on a calibration algorithm where the motion is related to the observability of the parameters that I am calibrating. Let's say we have a 6 dof trajectory and wants to quantify its motion ...
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0answers
18 views

Problem with UKF weights when calculating predicted state

I'm having troubles implementing a UKF during the calculation of $\overline{\mu_t}$, specifically in this step: $$\overline{\mu_t} = \sum_{i=0}^{2n}w_m^{[i]}\chi_t^{*[i]}$$ My problem I'm facing is ...
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2answers
1k views

What are the equations of a s-curve position path?

I have a decoupled mechatronic system with two motors. I want for each motor to give a s-curve path as reference. You can see in the image below the position path, velocity and acceleration. All ...
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1answer
216 views

Controlling YuMi robot by serial port

I'm trying to control the YuMi robot arm by a serial port. The serial port will give the information on what direction the end-effector should move and what is the velocity. What I would like to ...
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0answers
108 views

Wheeled Mobile Robot State Estimation Model Using Odometry

I have a process model update that follows the form: $$ \mathbf{x}_{k|k-1} = \mathbf{x}_{k-1|k-1} + \delta \mathbf{x}_k, $$ where $\mathbf{x}_{k-1|k-1}$ is the posterior estimate from the last ...
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0answers
31 views

Lost on SEIF Slam repeated update landmark

I am working on Sparse Extended Information Slam. I take the reference from Probabilistic Robotics, by Dr.Sebastian Thrun (Chapter 12,page 303). I have some doubt about the implementation of the ...
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1answer
158 views

SEIF ,online version of Graph slam create doubt in Motion Update state

I have a thesis work about Graph Slam The GraphSLAM Algorithm with Applications to Large-Scale Mapping of Urban Structures I try to implement it with the help of this paper but during the ...
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2answers
401 views

Ackermann Motion Model Does not Drive in an Arc, but Turns on the Spot

Im trying to implement an ackermann motion model which estimates the x,y and theta for a robot I have. I have a gazebo simulation running which publishes a steering angle for the virtual tricycle ...
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2answers
71 views

Motion Profiling for Decreasing Energy Consumption

I am attempting to minimize the energy consumption used by an electric-motor-powered car given the speed restrictions: $$\text{speed}: [v_{\text{min}},v_{\text{max}}]$$ Currently, we are utilizing a ...
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2answers
476 views

Explanation for exponential coordinate of rotation

From figure above, suppose a three-dimensional vector $p(0)$ is rotated by an angle $\theta$ about the fixed rotation axis $\omega$ to $p(\theta)$. Here we assume all quantities are expressed fixed ...
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1answer
135 views

Jacobian of kinematic IMU Model

I have the following problem: given two Input Vectors $x = \begin{pmatrix}x\\y\\z\\v_x\\v_y\\v_z\\q_1\\q_2\\q_3\\q_4\end{pmatrix}$, $u = \begin{pmatrix}a_x\\a_y\\a_z\\w_x\\w_y\\w_z\end{pmatrix}$ time $...
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1answer
45 views

Probably basic question about how control a DC motor

over the past weeks I was trying to figure out how use the information from hall sensor to control a DC motor. Basically this is the motor which I'm using: https://www.servocity.com/32-rpm-hd-premium-...
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2answers
399 views

Motion planning from a given path

Many articles reference algorithms such as A*, PRM or RRT based planners to motion planning algorithms which seems unreasonable since it is still necessary to parametrize found path with time.I wonder,...
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1answer
635 views

Are S-Curve (constant jerk) motion profiles significantly better than constant acceleration?

I've been investigating S-Curve motion profiles for CNC router and 3D printer applications, and haven't come across any definitive source that says an S-Curve profile is necessary in any application. ...
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0answers
169 views

My robot arm vibrates during operation. Why?

Introduction: I have modeled my 5-DOF robot arm in a simulation environment to test trajectories for my physical model. I have export the joint variables from the simulation as a .csv file. Then ...
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1answer
94 views

Quadrotor SE3 Controller: Calculating Rd_dot

I am trying to simulate and implement the controller in the paper Geometric Tracking Control of a Quadrotor UAV on SE(3). I have the dynamics implemented, however I am stuck at one part in the ...
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2answers
753 views

Quadrotor Dynamics: Calculating angular velocity of quadrotor

I am trying to simulate and implement the controller of the paper Geometric Tracking Control of a Quadrotor UAV on SE(3). To do this I need to first implement the dynamics of the quadrotor. According ...
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1answer
131 views

Why don't bipedal robots ever feature natural movement?

I'm a programmer and I've decided to make some bots for fun. I might start with wheels but my ultimate goal is to make bipedal robots. To that end I first decided to watch a bunch of videos of such ...
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3answers
2k views

What does SE mean in robotics literature?

I've come across the abbreviation SE several times recently. I know it has to do with the pose of the robot, and the degrees of freedom. Most recently I found it on page 8 of this paper: D. Kragic ...
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2answers
3k views

How can I draw with a 3 DOF RRR arm ,I have done the Forward and Inverse KInematics

Heres the Matlab code, I start with x and y and when I pass it through IK and Fk I get back the correct x and y thus I am confident that IK and Fk are correct. ...
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0answers
76 views

Which Trajectory representation for optimization

I'm strugling on that problem for a while, so any help is welcome. I need a trajectory representation that is performant for optimization, i.e. I want something that computes quickly. The function I ...
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1answer
3k views

Thrust and Torque on Quad Rotor

I am a beginner on Drones. I would like to understand the how each motor contribute to thrust on the whole drone. And what is the direction of torque created on each propeller. Everywhere I find a ...
3
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2answers
446 views

Compensation for IMU mounting misalignment

I have an MPU6050 IMU and I would like to mount it on an FSAE car and use it to measure the yaw, pitch, roll, and angular velocities as it drives. As it's impossible to mount it perfectly flat and ...
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2answers
860 views

Estimating yaw angle and yaw rate for a frontal vehicle

I would like to know if it is possible (and if it is possible how can it be done) to estimate the yaw angle and yaw rate of a vehicle in front of me knowing the following information: -my speed (x,y,...
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1answer
274 views

Computing Yaw angle from position and velocities

I have an object to whom I know the x,y,z position, length, width, height, and x,y velocities. Is there a possibility to compute the yaw angle from this information?
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2answers
368 views

Motion planning and robot controlling

I am stuck with understanding how can I make my robot move along planned path. For instance, if we have a grid map of an environment and applied, for example, A* to plan a path then after that we have ...
2
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2answers
449 views

How to relate forward kinematics into PWM/speed?

I am having a hard time understanding how to relate forward kinematics to things one can control in a robot like PWM and reading encoder values. For example, how to relate the encoder values from ...
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2answers
766 views

State estimation of mobile robot

For a mobile robot - four wheels, front wheel steering - I use the following (bicycle) prediction model to estimate its state based on accurate radar measurements only. No odometry or any other input ...
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1answer
53 views

Step size in numerical differentiation

I get position information and a corresponding timestamp from a motion tracking system (for a rigid body) at 120 Hz. The position is in sub-millimeter precision, but I'm not too sure about the time ...
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1answer
41 views

What type of actuator should I use? [closed]

I need to find out if There is a way to get at least 60 Hz of linear Motion with at least 5 mm of stroke that I intend to make linear persistence of vision device(not rotating one)It must be small and ...
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1answer
875 views

Finding cubic polynomial equation for 3 joints

My professor gave us an assignment in which we have to find the cubic equation for a 3-DOF manipulator. The end effector is resting at A(1.5,1.5,1) and moves and stops at B(1,1,2) in 10 seconds. How ...
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1answer
5k views

Calculating Required Torque

Say I had an object with 4 motors/wheels attached (in a fairly standard arrangement). I need to calculate the amount of torque required from the motors to be able to move the object of x kilograms ...
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1answer
86 views

Square with hinge on all four sides

I want to make a component that will be a square plate that will behave like it has a motorized hinge on all four sides. That is, it can "open" by pivoting around any one of its four sides. I want it ...
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1answer
59 views

Glasses with eye sensors

Someone could tell me if there are wearable devices such as glasses, with sensors that can detect eye movement? In particular, I would need a device like google glass, having a sensor or a camera ...