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1answer
23 views

PID control: zero out integral on error sign change?

I am learning about PID as a novice to robotics (background in software engineering). One common problem with PID is that if the PV is below the SP for a long time, integral term will accumulate a ...
1
vote
0answers
21 views

How to determine the required CPU speed for a micro-controller with a 2-phase encoder attached to interrupts?

I am building a high-torque steering servo. I am trying to use the Adafruit Feather M0, which has a CPU speed of 48MHz, to monitor a 2-phase encoder that has 2400 pulses per rotation. I have attached ...
0
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0answers
31 views

Grasp stability of a robot

I have read some researches and sources about "grasp stability", but I don't understand what it is exactly. If a grasp is stable, does the hand grasp the object perfectly, accurately or strictly? ...
2
votes
1answer
82 views

Is there any fault in my kinematic diagram?

I was doing forward kinematic test on a 6 D.O.F anthropomorphic robotic manipulator. So I modeled my kinematic diagram by D-H notation. But I am confused. Because I have simplified some terms here. I ...
2
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0answers
14 views

How to implement stop sign xml cascade [closed]

After training my RC car I use the following command: python drive.py --model trainmodel.h5 This give me Ip where I can go and see if the testing was successful ...
0
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0answers
19 views

Looking for a microscale valve/controller

I'm looking for a microscale valve/controller but am having a hard time finding what I'm looking for or a supplier. It will be used for a propulsion system in a CubeSat and as such needs to be fairly ...
0
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2answers
28 views

Mapping on Glass Surface

Hi i am building a robot that can travel on a transparent/glass surface but i want to map the whole surface. What is the best Solution for a 2D mapping of a transparent surface? -Is Lidar mapping ...
0
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0answers
12 views

Integrating Mindstorm EV3 with 2 Alphabots

I am currently working on a projects that consists of two alphabot line follower robots that are running on a big grid printed on a large piece of paper. On the path, on the lines, there will be ...
0
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0answers
25 views

moveit! trajectory execution aborted

I'm trying to send a custom arm to a pose through moveit_commander_cmdline.py, it fails after sending to the said pose using " go default_pose" and returns an error. ...
2
votes
2answers
29 views

Am I calculating my drone's power consumption right?

I want to make an drone with these motors: https://www.amazon.com/XtremeAmazing-2200KV-Brushless-2212-6-helicopter/dp/B01M3UBGU9 1: First of all, are they good? If not, could you suggest me other ...
1
vote
1answer
53 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 ...
1
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2answers
41 views

Is the information on the following link logical?

I cannot comment on the original answer, so I had to ask like this. I am trying to learn IMU's, accelerometers, gyros etc. for a while. So I came across with this answer below, https://engineering....
1
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0answers
41 views

ROS Algorithms & sensors

I am trying to implement boustrophedon algorithm using mobile robot. Can I implement this without map? I am planning to use dimensions (x,y) of the farm as reference assuming it is rectangular in ...
1
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0answers
25 views

Inverse Kinematics of Puma 566 giving low angle results with DH convention

I am new at the robotics area, and i need to deliver an activity until this week in my college based to solve the inverse kinematics problem from an article that doesn't have any code done, and after, ...
0
votes
1answer
24 views

Gyro yaw drift compensation

I'm looking for some kind of filter, algorithm which will allow me to compensate gyro yaw drift using heading of magnetometer. My project requires only yaw measurments and both sensors are flat. Is ...
1
vote
2answers
56 views

What is required to get the roll, pitch and yaw of an aerial vehicle?

TL, DR : What is the method(in terms of sensors and algorithm) to get the roll, pitch and yaw of an aircraft at any instant. I am planning to build a hobby aircraft. I am so confused about which kind ...
0
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0answers
12 views

estimate accuracy of (aruco) marker position tracking

I'm planning a concept for calibrating a robot model. For this purpose I want to use computer vision approaches. Since I'm not that experienced in that field I have some basic questions on the ...
0
votes
1answer
20 views

DH Parameter for OpenManipulator X from Robotis

I try to solve forward kinematics problem for OpenManipulator X from Robotis by using standard DH convention. The figure and dimension of the robot like this pic I try to find DH parameter and got ...
0
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0answers
16 views

How to understand the coordinate systems of IMU outputs in the KITTI raw data?

I am learning how to use the raw data of the KITTI data set. The raw data means that KITTI provides its raw sensor outputs. I focus that the IMU raw outputs (accelerations and angular rates) are shown ...
2
votes
1answer
34 views

Error term formulation in Graph SLAM (conceptual doubt)

I am reading A Tutorial on Graph-Based SLAM.Grisetti, Kummerle, Stachniss & Burgard On page 5, the error function is introduced as follows $$e_{ij}(x_i, x_j) = z_{ij} - \hat{z}_{ij}(xi, xj)$$ ...
0
votes
1answer
20 views

All Joint Angle values not converging to desired set point (I am using Roy Featherstone's Spatial Toolbox)

I need the robot joint angles to become the same as given (desired) joint angles. The kinematics and dynamics (used Spatial Toolbox) are correct and the motor models are realistic too. But out of 3 ...
0
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0answers
12 views

RTS Kalman smoother stability

I'm implementing the an RTS Kalman smoother, with the backward pass (from Murphy's MLPP): I'm having some issues with stability, and keep getting a non-positive definite smoothed covariance matrix $\...
4
votes
0answers
73 views

How to derive the Time-Update equation of SLAM

I was going through the tutorial on SLAM by Hugh Durrant-Whyte and Tim Bailey† and found this Time-Update equation (equation 4 in the paper): $ P\left(\mathrm{x}_{k},\mathrm{m} | \mathrm{Z}_{0:...
1
vote
2answers
28 views

Meaning of Roomba's charging states

I added an Arduino to control a Roomba 615 (similar to iRobot Create 2). The Arduino is communicating with Roomba through the Mini-DIN connector with the Open Interface. While Roomba is docked and in ...
0
votes
1answer
34 views

Is it compulsary to learn Arduino programming in order to use Udoo Neo as an IOT device?

I'm an absolute beginner, so please bear with me. I'm currently doing a project where I need to control 2 DC motors using the Udoo board. Should I first learn to use an Arduino or is it possible to ...
0
votes
1answer
37 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 ...
0
votes
1answer
33 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 ...
0
votes
1answer
21 views

Forward Kinematics of non-planar robot using Roy Featherstone's Spatial Toolbox

I have a non-floatbase 3 DOF non-planar robot whose forward kinematics I need to compute using Spatial Toolbox. The code for this purpose is p = fbkin(q) but as my ...
1
vote
1answer
37 views

problem of power on PIN 1 and PIN 2 of DIN connector of Roomba 521

I notice there is a problem of power on PIN 1 and PIN 2 of DIN connector of Roomba 521...I have only 0,5 V but it's expected 12V...motherboard damaged?
1
vote
1answer
27 views

Non-planar robot Dynamics error using Roy Featherstone's Spatial toolbox

I am using this code to test robot dynamics of above robot using Spatial Toolbox function: FDab(rob, [0;0;0], [0;0;0], [0;0;0]) %a_grav = [0,0,-9.81] But it ...
0
votes
1answer
39 views

Is Ultrasonic Self Balancing Robot Possible?

a quick question, can i make a SBR using UNO and two HC-SR04 knowing that this configuration offers a 1.36 mm resolution (i.e it increment 1.36mm) ?
0
votes
1answer
20 views

MPU6050 gyroscope giving wrong measure

i am trying to make an angle meter, using the UNO and MPU6050, following joop brokking video tutorials, when utilizing the accelerometer, the results are fine, however when i try to use gyroscope ...
0
votes
0answers
8 views

Does USB read-rate from camera decrease when running inside of a docker container?

I have a general question regarding usb device performance inside of a docker container. For context, I have setup a docker image (for deploying containers on an nvidia jetson agx xavier platform) to ...
0
votes
1answer
22 views

Is it possible to implement VSLAM on Arduino?

If not, then which microcontroller will be suitable?
1
vote
1answer
28 views

Roy Featherstone toolbox robot model

I want to model these D-H parameters in spatial toolbox: Link: alpha, a, theta, d Link 1 : -90 0 theta1* d1 Link 2 : 0 a2 ...
0
votes
0answers
10 views

Using Simulink Interpreted MATLab fcn for robot dynamics using Robotics Toolbox

I am using Interpreted MATLab fcn to compute forward dynamics. I am using code of accel in which I have added my robot model in the beginning, making the accel function: ...
0
votes
1answer
25 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/...
2
votes
1answer
26 views

Command line boolean parameters to ros node

I'm working with ROS melodic and Gazebo 9.9.0 on an Ubuntu 18.04.2 LTS. I want to get two boolean parameters from command line. To do it, I have this code: ...
0
votes
0answers
27 views

Which motor is suitable for generating a constant pressure on objects?

I want to build a simple arm that can generate a pressure on a small object (a force of 50-100 gram is enough) and let go of it very quickly. Which motor can be used for this?
0
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0answers
15 views

3 DOF robot torque not converging Robotics Toolbox

I have a Simulink model in which desired torque is [0;0;0] and current torque should converge to zeros too. But I am getting oscillatory torque as output. This is the block diagram of what I am ...
0
votes
1answer
16 views

What control circuit element will control an ESC while doing bench testing?

While doing bench testing of motor and prop combinations what simple device would I use in the circuit to properly control the ESC for the full range of power from 0% to 100% ? I have seen a few ...
1
vote
1answer
19 views

Joint torque sensor vs end-effector force sensor

I am trying to understand the difference between joint torque sensors, and force sensors, in a robot arm. From what I understand, joint torque sensors estimate the torque at each joint, whereas a ...
0
votes
0answers
13 views

Safety of LIDAR laser, trust Class rating or measure myself

I just bought a LIDAR with the intention of building an indoors robot that uses it to navigate rooms in my apartment. The manufacturer website states: Low power infrared transmitter conforms to ...
0
votes
0answers
22 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 ...
1
vote
1answer
53 views

Efficient sphere surface area search

As shown in the figure, there are objects of arbitrary shapes placed on the surface of the sphere at arbitrary locations. The problem is to search the surface to locate these objects in most efficient ...
1
vote
1answer
24 views

Transform this matrix of distances into a more general one

I need to make the navigation and guidance of a vehicle (a quadcopter) in a platform. This platform can be seen like this: where the blue dots are the center of each square, and the $x$ distances are ...
0
votes
0answers
14 views

What impact does a shroud have on the torque produced by the prop(s) of a multirotor that incorporates a properly designed shouded propeller?

Based on the research presented here: Hover and wind-tunnel testing of shrouded rotors for improved micro air vehicle design and other reading that translates similarly well-designed shroud and rotor ...
0
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0answers
9 views

Custom Image and Depth map in ROS RTAB mapper

I read about RTAB package which builds 3D point clouds based on optical odometry. This fulfills my requirement, which will be clear by the end. The issue is, I don't have a Kinect camera. What I have ...
3
votes
1answer
48 views

3-DOF Robot Dynamics error in Robotics Toolbox

I am trying to compute dynamics of 3 DOF robot using Robotics Toolbox by executing this code: robot.accel(q, zeros(1,3), zeros(1,3)) But I am getting this error: ...
0
votes
1answer
49 views

Simulating a robot

I try to simulate a robot, but with a GUI. I can make a simulation using pyopengl to simulate the movement of robot, but I cannot make the GUI with that. I need to make it easier to simulate, analyze, ...

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