All Questions

0
votes
1answer
33 views

Microcontrollers and Python

So I am fairly new to robotics however I do have some background with the python coding language. Recently I set myself the task of learning some basics for robotics just to increase my knowledge base....
0
votes
2answers
40 views

outdoor autonomous robot [closed]

i had search over google and found out more or less some sensor that i could use like sonar, gyroscope, accelerometer,magnetometer and gps and 2d lidar (which is less expensive, around $300) i have ...
2
votes
1answer
52 views

extended kalman filters, linearization of output

Say, we are dealing with an odometric localization problem. In the below example, $(x_k, y_k), (x_l, y_l)$ are cartesian coordinates of the sensor and the landmark respectively. Then the output ...
0
votes
1answer
26 views

What are the differences between wheel and manipulator joint encoders?

As far as I understand the joint encoders output the angle and the wheel encoders output speed. Is that accurate? In either case, how do the differences affect the kinematic calculations, as in path ...
0
votes
0answers
9 views

How can I import openmv camera feed in MATLAB

I am planning to use openmv camera with wifi shield for my project. I want to import the video feed to MATLAB for further processing. As per my preliminary search it is extremely difficult and ...
-1
votes
1answer
51 views

Is robotics and automation a contradiction?

With the Meccano toy it is possible to construct a variety of useful machines. For example a knitting machine, a loom or a steam engine. What these machines have in common is, that they are doing ...
0
votes
1answer
30 views

How should I power my servo motor with the Adafruit PCA9685 chip?

So I have an Adafruit pca9685 controlling an HSB-9380TH servo and a MG-996R servo. I recently began learning about building robot so I apologize if these questions seem dumb. I literally spent a days ...
-1
votes
0answers
17 views

Building a mobile robot- Project

I’m trying to build a mobile robot that weighs close to 40 pounds and I’m trying to use a DC motor for the wheels but I don’t know what requirements the motor will need to have.
1
vote
0answers
31 views

Path Planning for Spherical Wrist (RRR)

I have found the inverse kinematics of a spherical wrist. The wrist is not attached to any other type of arm, it is the sole controller. Based on this IK solution, how can I generate a path plan for ...
-1
votes
0answers
17 views

sensor for knowing the exact position of charger

what can I utilities the charger with so the robot knows the exact position of it? acoustic location is not accurate enough even if it's hard to implement. lights are not good since the obstacles. If ...
0
votes
2answers
29 views

Identify contacts on wires of an electronic speed controller

I have got an electronic speed controller as pictured in the first image. What kind of contacts are those on the left? The second image is a closeup. edit to clarify question I am asking how to ...
3
votes
1answer
46 views

Input/output linearization

I am studying the book "B. Sicilliano -Robotics. Modelling, Planning and Control" chapter 11, Input/output linearization topic. Where does the formula for theta in 11.75 come from? In the case of the ...
0
votes
1answer
25 views

Humanoid robot with Raspberry pi [closed]

I am in the midst of designing a humanoid robot, and I am very new at this technical stuff, but I have found servo motors which are capable of producing 500 kg.cm. Now I am looking at making a ...
0
votes
2answers
52 views

I must determine the resolution of a control system when using an 8-bit encoder for a single-rotation joint

The length of the link is 50 cm and the arm moves 180 degrees. Can anyone help me? Out of the cosine theorem, $d = \ell \sqrt{2\left(\ell-cos\right)}$, I calculated the distance traveled by a linear ...
0
votes
2answers
48 views

How a quadcopter pitch/roll impacts thrust?

I'm thinking about how a quadcopter flight controller works, and I usually see that each motor speed is determined by a formula like: ...
1
vote
3answers
86 views

Inverse Kinematics Problem of Articulated Manipulators Arm

I have a robotic arm consist of three joints (servomotor for each joint), as shown in the figure below: Notes: Each servomotor rotates around 180 degrees. The angles of the theta2 and theta3 ...
0
votes
1answer
24 views

Powering servos for quadruped spiderbot using arduino uno [closed]

I am using 12 towerpro SG90 servos. What battery should I use for powering 12 servos for my arduino uno? Can i use the 12v battery, plug it in to 12v dc jack of arduino and tap the 5v output of ...
-1
votes
0answers
46 views

My robotic arm keeps falling down after it turns to a certain angle or above

As the title says, the arm keeps falling down rather than being stuck at the position it was set to be at because of the gravity pulling it down. Im using Raspberry Pi for this, some MG996R servos and ...
7
votes
2answers
140 views

Singularity problem at Inverse kinematic solver

I am struggling with this problem for days. Really hope that someone could give me a hint what the problem is. The robot consists of 5 axes. The first axis rotates around the z-axis and other 4 axes ...
0
votes
0answers
13 views

Mindstorms: EV3 Brick files vanished

The EV3 brick turned off by itself (the battery is not low), we restarted it and the file finder was empty, all our files are not there right now. Have they disappeared from the brick forever or is ...
1
vote
1answer
38 views

Defining C-space state for an arm in OMPL

I'm very new to Robotics, so please bear with my ignorance about the subject. That said, I'm trying to use Open Motion Planning Library (OMPL) to set up the configuration space for a robotic arm ...
-1
votes
0answers
32 views

How to get the Turtlebot2 Gazebo simulation to produce Scan data

My Turtlebot2 Gazebo simulation is not able to produce Scan data. Steps to produce the problem: ...
2
votes
2answers
89 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 ...
-1
votes
0answers
29 views

How to Communicate with a Robot with Fast Wireless Communication…(wi-fi AC)?

I have a robot that gives 4K images from its camera and sensor data.I want to consume these information and transfer to my local computer and process the desired path the robot has to go based on the ...
-1
votes
2answers
47 views

how to control servo motor with potentiometer in arduino

I'm working on a robotic arm which uses 3x MG995 servo motors, 3x potentiometers (10k), and 1 Arduino Uno. I uploaded the code to the Arduino but the servo won't stop. I want to control it with the ...
1
vote
1answer
44 views

Does MIT Cheetah uses Series Elastic Actuator?

I have been wondering does MIT cheetah purely only use electrical active compliance on it's robot or did they use a Series elastic actuator since they have this webbing tendon?
1
vote
0answers
30 views

Stereo-Calibration with Variable focal cameras

Is it possible to perform stereo-calibration with cameras having variable focus? and if so, how is it done basically?
2
votes
0answers
19 views

Stereo Rectification when Extrinsics are known

Suppose I have two cameras $C_1$ and $C_2$ arranged in a stereo configuration. Let us assume that the camera is free of distortion with ideal intrinsics and that the camera extrinsics $R$ and $t$ are ...
1
vote
1answer
31 views

turning a roomba 980 into a create

I have an old 980 that I want to turn into a create. Is this possible? I've seen some posts that seem to indicate that it is, and I'm wondering if there are any more up to date instructions on how ...
-1
votes
0answers
34 views

what if stall torque is exceeded?

for a DC motor, when the torque or load is small, the DC motor rotation speed is fast. When load becomes bigger, the speed slows down. But what if the load exceeded the stall torque, and maybe cause ...
1
vote
0answers
21 views

URScript - how to get the actual TCP pose in tool space coordinate system?

I am writing a simple script for universal robots UR10 robotic arm. I am trying to find a way to to see if the tool current position is outside of a 3D bounding box. the 3D bounding box is defined ...
1
vote
1answer
33 views

Representation of 2D coordinate space with orientation

I wanted to know what is the mathematical representation of 2D coordinate space with orientation in the same plane. 2D coordinate space is represented as $R^{2}$, how do I include orientation in the ...
3
votes
3answers
71 views

State Space model for bouncing ball

In lecture 5.5 Bouncing ball, slide 26, Coursera's Control of Mobile Robot course, how are the state space equations formed in "Equations of motion in-between bounces"? Why is [0 -g] added? And how ...
1
vote
1answer
43 views

Is rospython subscriber thread safe?

I'm trying to write a python node, which has one class and two member functions as callback functions. so a TimeSynchronizer and Subscriber in a node. I saw in this link and tested that python ...
0
votes
2answers
34 views

Libraries to simulate path planning in a dynamic environment for a 2D space

I need to simulate a path planning approach for a 2D space where the obstacles are moving. Initially, I need to implement probabilistic road map, D* lite, A* and Bug2 algorithm. The robot needs to be ...
0
votes
1answer
27 views

Arm path planning with obstacle avoidance in Unity

My application is not specifically in Robotics, but the problem that I'm trying to solve seems to have been studied primarily from the viewpoint of Robotics, so I am hoping to get an answer here. ...
0
votes
1answer
15 views

How can i find and install (acspid) python PID library

How can i find and install (acspid) python PID library in the folowing code import acspid pid=acspid.pidcont(1.2,0.02,0.01,5,-5)
0
votes
0answers
18 views

Can I combine BEAM robotics with fuzzy control?

Beam robotics invented by Mark W. Tilden is about analog circuits for controlling robots. The idea is to avoid microcontrollers and software and use instead resistors, breadboards and capacitor for ...
-1
votes
1answer
24 views

Localization in box using rangefinders

Let's say I have a robot, located in a box. The robot can move in the x and y and rotate. The robot has 4 rangefinders, mounted 90 degrees apart, that measure the distance to the walls of the box (I ...
1
vote
1answer
80 views

Inverse kinematics for differential robot knowing linear and angular velocities

I have a differential robot and I am using ROS to run it. When I need to move the robot, I can send commands to it, specifically linear X and angular Z velocities. Linear X is in m/s whereas angular Z ...
0
votes
2answers
101 views

How do I find the inverse kinematics of a 5-DOF manipulator having the following DH parameters?

alpha = [ -90, 0, 0, 90, 0] a = [ 0, 400, 200, 0, 0] d = [63.5, 0, 0, 90, 100] I am trying to calculate the joint angles but I am stuck ...
0
votes
0answers
36 views

Tracking object in realtime using depth image stream from a RGBD camera

I have an Intel RealSense camera which can stream RGB and depth image. Using those information I want to track an object moving on a table top. More specifically, I want to know position $(x,y)$ and ...
0
votes
1answer
33 views

Running ROS on Digital Ocean?

Has anyone done this? Create a "droplet" or whatever they call it and set up ROS, and be able to actually run roscore, gazebo, rviz, etc. from there? I can imagine various complications, like having ...
2
votes
2answers
103 views

How to approach any advanced control problem in robotics

I have worked on a couple of projects like control of a quadrotor/ self balancing robot/ 6 dof robotic arm using nonlinear, optimal and adaptive control. So, in all these projects I have first ...
1
vote
1answer
54 views

Bullet vs SimMechanics: Inverse Dynamics and sensed forces/torques

This question may be a little broad, but I could not find any other information. How accurate are the inverse dynamics functions in SimMechanics compared to Bullet? How accurate are the sensed/...
1
vote
3answers
137 views

Why do robots need rangefinders while animals don't?

Will vision based system eventually prevail rangefinders based systems given that the most successful autonomous agents in the world like animals use primarily visions to navigate?
1
vote
1answer
32 views

How to determine the rotation matrix and translation vector of a fixed LiDAR from the sensor frame to an aircraft's vehicle frame?

I am using a fixed 3D LiDAR sensor on a small aircraft. The vehicle has a GPS/INU to calculate its own position and orientation. I do not know the exact offset of the LIDAR from the center of the ...
0
votes
1answer
23 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 ...
0
votes
1answer
35 views

Humanoid Robot Arm

I have a modeling design for Humanoid robot arm in simscape-SimMechanics in Matlab, I am trying to use the inverse kinematic to make a reaching movement for the arm to the target position; however, I ...
1
vote
1answer
38 views

Why won't my PID line follower work?

I'm trying to implement a PID based line follower. The robot has 2 line sensors with ranges from 0-200, with 0 being black and 200 being white. I'm trying to follow a black line. I'm struggling to ...

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