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1answer
31 views

Help understanding decoupled inverse kinematics

I've been researching decoupled inverse kinematics with respect to industrial robots. The assumptions made in the decoupled equations greatly simply the equations, however I am having a hard time ...
0
votes
1answer
40 views

Effects of distance between wheels on differential line following robots

I have been working on a line following robot for a line tracing competition. It has 7 IR sensors for line detection and the robot size is limited based on the competition rules. The robot structure ...
0
votes
0answers
28 views

Implementing a square root Kalman filter

I'm attempting to implement a square root filter in C, translating it from Matlab in order to run the filter on an embedded target. I've implemented the Matlab square root filter as detailed in these ...
0
votes
0answers
22 views

Catching drift from IMU with if…else

recently I tried to measure yaw angle with MPU6050 and MahonyAHRS algorithm. As expected, the yaw angle consistently drifts. But I could see that the changes caused by the drift are much smaller ...
1
vote
0answers
25 views

How to estimate yaw angle from magnetometer and gyroscope?

I'm using the MPU9250, it measures acceleration, magnetometer, gyro, etc. Complementary filter tutorial for this is here, however this tutorial does not have a magnetometer and I do, thus I thought I ...
0
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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 ...
1
vote
1answer
32 views

Sampling time selection

I'm trying to design a compensator for a pendulum type plant with arduino mega. As you can see from the picture, the system bandwidth is 9 rad/sec. I calculated the sampling time as ws=10*wb=90, so, ...
1
vote
1answer
71 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. ...
0
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0answers
5 views

Advice for suspension 101 for a small ATV robotic platform [duplicate]

I'm a recent grad from mech. eng. program and going into robotics field. I want to design a suspension for a small ATV robotic platform on 4 wheels that carries max 75 kg load. I might use the wheels ...
0
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0answers
16 views

The wide range of suction cups

I noticed that there are heaps of suction cup types for vacuum arms, but how to tell which cup type should be used when? The way I read it is, for bigger and heavier objects, a cup with a large ...
3
votes
1answer
40 views

Robotic arm chassis

I've been curious about how the plastic chassises of the robotic arms in robotic competitions are manufactured. For instance, the following arms clearly have 10-20 plastic parts each, if not more: ...
0
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0answers
12 views

Configure dynamixel motors

I don't know where to post this. So maybe here. Sorry if it's not the right place, and please point me to where I can ask this kind of question. So, anyway, I'm trying to learn to control dynamixel ...
0
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2answers
38 views

Relative quaternion to global with uncertainty

in this perfect tutorial i found how i can compose two poses with uncertainty and how i can transform one representation to another with uncertainty http://ingmec.ual.es/~jlblanco/papers/...
1
vote
1answer
47 views

Do self-driving robots use object-level SLAM?

How do self-driving bots usually deal with transient objects, e.g., parked cars on the side of roads when they can come and go? These aren't moving objects at the time of capture, but they do move at ...
0
votes
0answers
18 views

Visible light sensors for line follower

I'm making a second version of my line follower robot and I'm thinking what are the line sensors going to look like. In the previous version I've successfully used IR LEDs and IR phototransistors, ...
0
votes
1answer
49 views

How to get position (X Y values) from a USB optical mouse

I want to use an optical mouse to measure displacement in X and Y direction of my robot. I'm using Ubuntu mate 18.04 on raspberry pi and wrote the following python code : ...
3
votes
1answer
70 views

How come LIDAR is not commonly used for indoor navigation?

I'm reading this survey on the state-of-the-art techniques for indoor positioning and navigation. I noticed that LIDAR isn't mentioned at all in the paper. Is LIDAR not meant to be a common method for ...
0
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0answers
13 views

Tips/Tricks for Initial Guess of the Joint Variables in Inverse Kinematics

It seems like there should be a set of best practices or something to reduce the iterations of the Newton-Raphson method to the inverse kinematics. Does anyone have any tips or tricks for choosing an ...
0
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0answers
13 views

Effective forces on an object for grasping

For example, a robot or a humankind is grasping an object such as a bottle. Which forces are effective on that bottle ? This is my opinion: When we grasp a ...
1
vote
1answer
43 views

Accelerometer and gyroscope noise and bias

I am doing an EKF (Extended Kalman Filter) to fusion Visual Odometry with IMU information. I am using a ROS package called ethzasl-msf (I am using the multi sensor fusion because then I have to add ...
0
votes
1answer
12 views

Need Suggestions for real-time number or object detection with Arduino + MATLAB? [closed]

I'm working on a line follower robot. its a kind of waiter robot. and i am facing problems in detecting customer table. can you guys please suggest me some ideas to detect customer table. i want to ...
0
votes
1answer
17 views

Mavlink data parsing offline from buffer, on Linux in C

I am a beginner with mavlink and even pixahawk. I need to just parse mavlink data coming from pixahawk. (Mavlink v1, pixahawk v5plus), on Linux PC (Ubuntu). I have 2 processes in context of this ...
2
votes
3answers
289 views

State of a Robot

I saw the expression "robot state" in many articles and resources, but I could not understand what that exactly mean. What does state of a robot exactly refers to ?
1
vote
1answer
31 views

Why do strong rotations affect Monocular Vision based Visual Odometry?

In context of the paper Semi Dense Visual Odometry for a Monocular Camera J Engel, J Sturms, D Cremers At page 7, last paragraph the author writes The achieved tracking accuracy for two feasible ...
0
votes
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.
0
votes
1answer
43 views

Automatic forward and reverse Brushless Motor

The video Here shows a motor using rotational motion to move a load forward and then reverse back, without manually switching it to reverse. How can I program my brushless motor to operate like the ...
0
votes
1answer
17 views

Compute vector of attraction plus repulsion forces in a 2D force field mapping

I'm developing a force field mapping of a two-dimensional space to move a robot to a goal avoiding obstacles. My problem is that I don't know how to move it using attraction force and repulsion ...
-1
votes
1answer
27 views

Is not this guy using a flightcontroller?

I know this will not be a good way of asking something but I cannot think a better way. In this video : https://youtu.be/wg8ZbiC9IBw He builds a fixed wing an makes it fly, my question is related ...
1
vote
1answer
36 views

Potential field algorithm implementation

I'm studying robotics at the university and as a practice, I have to implement potential field in the simulator (I'm going to use ROS and Gazebo). I'm having troubles about how to implement it, ...
0
votes
2answers
64 views

Are all drone propellers compatible with all brushless motors?

I want to build a drone using these motors SunnySky X2212 KV1400 Brushless Motor For RC Drone FPV Racing Multi Rotor and these propellers DYNAM 2X RC Model Airplanes 9x5 Inch Nylon Propellers ...
0
votes
0answers
36 views

Why my kinematic diagram is not giving the same position and orientation while forward kinematics test?

I am sharing my matlab code so that you can also generate the simulation . ...
1
vote
1answer
33 views

PID tuning - can't get stiffness without going unstable

I'm trying to tune a low-friction actuator. This actuator is controlled via a 24peak amp drive. I'm running into the problem where the system goes unstable prior to reaching good stiffness. I start ...
2
votes
1answer
40 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
26 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
votes
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
94 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
votes
0answers
16 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
votes
0answers
20 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
votes
2answers
34 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
votes
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
votes
0answers
47 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
31 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
4answers
92 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
vote
2answers
43 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
vote
0answers
44 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
vote
0answers
28 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
43 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
58 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
votes
0answers
82 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
36 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 ...

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