# All Questions

4,446 questions
7 views

### Do I need a camera along with LIDAR for SLAM?

Equipment: Pi 3 B Mega 2x Encoder Motor 12VDC 299RPM MPU 6050 12V bat 2000mAh LIDAR or Kinect ? I want to implement EKF SLAM. I have referred bot NOX ROS wandering robot, Hussarian CORE and Robotics ...
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### How can I perform localisation without using LIDAR?

I want to make a self driving (autonomous) wheelchair where I want to create a map for localisation of the wheelchair. I do not want to use LIDAR as it is very expensive. Also, I do not mind if the ...
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### What is an axial and polar vector?

In Robot Kinematics and Dynamics by Herman Bruyninckx, it states: Axial vectors have an inner orientation, i.e., the direction of the vector indicates the positive orientation. For example, a unit ...
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### Aliexpress bought BNO055 UART connection

I bought a BNO055 module from Aliexpress which is shown in the picture below. I am able to read the IMU data in an Arduino nano from this BNO055 via an I2C connection. Now, I want to connect it to a ...
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### Robot trajectory generation; path-paramerization

I have a differential drive robot, and it's supposed to drive on a parabolic function $(f(x) = x^2)$. But for all control algorithms, you have a trajectory given as $f(s)$ or $f(t)$. I want to use ...
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### How to do mechanical calculations for a towing robot?

I am making an automated guided vehicle AGV will tow standard shopping carts each will weighs 20-30kg I hope to use 12V DC gear motors 100rpm torque 20kg.cm (assume the floor is smooth and flat) I ...
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### Sensor complement in Drone

I saw a question posted by @Rocketmagnet about the need for a Kalman filter. In that question, he says he's designing an UAV and lists the following sensors he will incorporate into the design: 3-...
9 views

### Roomba Create 2: how to convert steering angle to radius?

I want to set the steering angle for Roomba Create 2, and as far as I understand I can do this by setting a turning radius for the Roomba Create 2. My question is: How to convert steering angle to ...
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### Robot control project

So currently I have an unused robot car, my plan here is to be able to control the robot car with a joystick using ros_control. I am really new to ROS and is hoping you guys can guide me along. I ...
17 views

### What is the motor that move like an elbow called

I'm trying to make wings that fold in and open. I want to have the joint of the wing controlled by a motor of some sort but I don't know what I'm looking for is called.
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### Roboclaw node on ROS error: “Encoders None None”. Encoders can't be read properly. What might the cause be?

My two wheels robot was working properly with ROS Roboclaw node before changing a burnt Motor. After changing this motor with a similar motor, I reconfigured it as usual without touching the node or ...
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### Using SPDT Relay for Voltage shifting in Arduino UNO and ESP8266 combination

I'm using the tinkercard.com online Arduino simulator and I have an issue. I'm trying to use the ESP8266 WiFi module with the Arduino UNO board and as the WiFi module operates on a maximum of 3.5V ...
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### Power Supply; using a 24V battery for a 12V and lower components (duplicate)

Instead of a separate battery for motors and electronics, one 24V SLA series connection with different converters for the 12V motors, 12V camera, 5V arduino, etc Is this a practical alternative ?
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### Sensorfusion of odometry, accelerometer and gyroscope using Indirect Kalman Filter

I'm trying to implement an indirect Kalman for pose estimation of a wheeled robot. I found two papers that describe this approach. CMU. Journal (2006) Vol. 5(1) IFAC Conference on Embedded Systems ...
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### What is the difference between the pose of a robot and the configuration of a robot?

Do "configuration" and "pose" means the same thing? If not what is the difference?
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### Why do I need impedance control?

I am having a hard time understanding the impedance controller. I see that it looks at the manipulator as impedance and the environment as admittance. However, it is hard to grasp the concept and ...
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### SLAM from partly occluded LiDAR sensor

I am building my first project which will use 2D LIDAR for SLAM and the robotic platform is a small car. However the LIDAR is hidden inside and it's occluded by 4 cylinders which connect the roof with ...
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### Yaw drift when implementing AHRS filter fusion

I am using the Matlab AHRS filter fusion algorithm with an InvenSense ICM-20948 to determine object orientation. I seem to be obtaining reasonable results however I am getting what appears to be ...
17 views

### Caculating the distance of a point from point cloud data

I'm getting the x,y,z values for three points as follows: x : -0.357200 y: -0.205010 z: 0.940000 ...
35 views

### IMU and encoder fusion

I'm trying to simulate data fusion for a 4-wheeled mobile robot using ekf and am using IMU and wheel encoders as sensors,where IMU measures linear acceleration and angular velocity and encoder ...
19 views

### What is the correct algorithm name for this “Shortest Path Maze Solver”?

What is the correct algorithm name for this Shortest Path Maze Solver? The algorithm works by completing the maze and at each turn storing each of the turns in an array until the maze once the maze ...
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### State of the Art in Localization [closed]

About four years ago I worked on localization approaches for nonholonomic vehicles using Camera and Lidar. Back then, I used Kalman (EKF/UKF) and Particle Filter based approaches. Since I am going ...
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### Robot fails to move in Webots environment

I am trying to teleoperate a robot which is a forklift. The details of the robot are as follows: Weight 700KG 1 actively steered caster wheel and 2 passively steered rear wheels 2 passive standard ...
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### Error Distribution of Ultrasonic Distance Sensor

I am currently analysing the accuracy of an ultrasonic distance sensor: HY-SRF05 Using this sensor, I have measured the distance towards an obstacle at 5cm 10cm 15cm 20cm 25cm , where the ...
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### Calculate the inertia matrix of complex robotic mechanism

Motor, irregular rigid body of Different materials Forming a single robotic. For example, Industrial robot, every geometric shape of the link is very complex. But we can find inertia matrix form CAD ...
31 views

### Position vs Image based visual servoing?

Can anyone explain Image based visual servoing for robotic arm through example? I can understand Position based based visual servoing like this, .... there is an object and estimating it 6D Pose ...
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### Falcon Heavy Control Algorithms

What kind of control approaches does SpaceX use for landing of their Falcon Heavy boosters? Is it PID, LQR or something more advanced?
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### Design a robot that can apply hot glue to paper

I need to automate a process that involves applying hot glue to paper. I own a standard handheld hot glue gun, like this one: Sticks of room-temperature glue are fed in the right side. Pulling the ...
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### How should I create a Pangolin (Armadillo) structure?

I am new to this forum. I want to create a mechanical structure as depicted in the image A pangolin bag. And further wouls like to automate the closing and opening of the bag. But I am facing issues ...
31 views

### high power jumping mechanism in small robots

I recently saw this video on youtube: Jumping robot And i was curious how this is accomplisched mechanically? Do they wind a strong spring? or use some sort of airpowered piston? I am not sure if ...
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### Where can I buy irobot-create?

im looking to buy irobot-creat, i can't find it on amazon or any other place. Im on Chile, would be any shipping options? Thanks!
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### What are different ways to scan a document? [closed]

I know this is a stupid question, but what are different ways you can scan a picture or document? I am currently working on a project and scanning a picture to convert into an image which I can parse ...
33 views

### Motor vs weight

I hope someone can help me out with please. Revolving platform on rollers. weight 800kg. Add car that parks on top . Weight 2000kg Total weight 2800kg to be rotated. 6x dc motors pushing against the ...
30 views

### Is interacting with registers the only way software and hardware interact?

I'm aware that memory mapped addresses that point to registers are sometimes used to control hardware devices. Is that the only way they're controlled? I started asking about how software talks to ...
69 views

### Why my robot is lying down in gazebo simulator?

this is my first post about ROS and Gazebo also I am new in ROS. I spawn KUKA robot in Gazebo using urdf file from KUKA github repository following answer from this question I spawned my urdf file in ...
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### ROS how to use published data in a python script (darknet_ros)

I'm writing a python script to run with darknet_ros and bebop_autonomy package in order to take the bounding boxes of the detected objects and depending on the position of the detected objects send ...
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### Why does degree of freedom only consider continuous values?

In the book Modern Robotics Chapter 2 Configuration space, we are told that degrees of freedom only considers coordinates with real valued continuous range. Why is this the case?
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### Why is the Kalman filter a filter and not a control system?

Why is the Kalman filter a filter and not a control system? The Kalman filter is a recursive filter which can be used to estimate the internal state of a linear dynamic system with noise in the signal(...
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### increase of sensitivity bandwidth with H-infinity optimization

I have defined a defined a controller using the H-infinity optimization in Matlab using just the sensitivity weigth in the following way: ...
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### MotoSim EG-VRC- Missing Robot series (SDA) in the controllers FS100 and DX100

When I try to create/ initialize the Controller, for the two armed SDA10F robot with either a FS100 or a DX100 controller, I am unable to find the robots from the SDA series when I try to set up the ...
33 views

### Real-time python reinforcement learning library

I'm looking for a reinforcement learning library that can be used for real-time robot control. What I first had in mind was ROS to describe the robot, Mujoco to simulate physics, and OpenAI gym to ...
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### RGBD Camera Eye in Hand Calibration

Hello I am new to robotics. So far I have a basic understanding of the camera calibration. One would need rotation and transformation matrices to convert a point from camera coordinate system to robot/...
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### Control Algorithms for Kinesthetic Teaching

There are several algorithms for post-processing of kinesthetically demonstrated motions for manipulators learning a task. However, I have failed to find papers/research work on modeling the ...
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### How can robots communicate, locate and identify each other?

I'm planning to build some simple robotic boats. They will be travelling some distance alone but should also be able to group and physically connect together to form one boat. When they are near each ...
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### Inverse Kinematics “Can not converge” issue

I'm a complete beginner with LabView and I have been practicing forward kinematics with the help of a tutorial I found. It's been a learning curve but I've managed to understand a few things. However,...
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### How is this bicycle model in Robotics Vision & Control derived? And is its equation missing something?

I'm reading Robotics, Vision and Control, on page 108 it has following equations: $$\rho=\sqrt{\Delta^2_x+\Delta^2_y}$$ $$\alpha = \tan^{-1}\frac{\Delta_y}{\Delta_x}-\theta$$ \beta = -\theta-\alpha\$...
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### Gazebo crashes and burns launching empty world in new package [closed]

I'm launching empty_world copied into my package with the command roslaunch my_package empty_world.launch. Here is ...
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### vision guided robotic arm always required 6d pose of object? [closed]

I have an object like attached in image. It is hanging vertical (its position may change but static object) and I want to grasp it using 6DOF Robotic arm. I am Using camera to detect object. I am ...