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How to make x variable change each time and read its value from txt file

I am working on my undergraduate project and this is my first time in using use python to control parrot bebop 2 drone and use BCI or BMI technology. I have x variable (int) and I want to read its ...
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0answers
11 views

End-effector orientation is off for certain orientations

I'm using PyKDL's Newton Raphson IK solver to orient my end-effector along any arbitrary direction vector. From the way I've defined my coordinate system, the more parallel the direction vector is to ...
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1answer
10 views

effect of three terms of PID controller on output response?

What is the effect of each of the three terms on output response of a pid controller? i mean how will P term shape/effect the output response similarly what is the effect of I and D terms on output ...
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1answer
18 views

Confused about I and D in PID controller?

I am trying to learn PID controllers from basics and i came to know that "P" term looks for current error "I"term looks for past error "D"term looks for future error I have some how understood "P" ...
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1answer
17 views

Do I have to use the CAN protocol that the motor controller uses in order to communicate with it?

I have a question about using the CAN bus to control motor controllers. Do I have to use the CAN protocol that the motor controller uses, e.g. CANopen CiA DS 301 CiA profile 402, in order to ...
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6 views

2 NAO robots and a human interacting and exchanging an object

I need to solve the following scenario between 2 NAO robots and one human. Maybe you have advice which NAO accessory or builtin sensor is accurate enough to measure such a distance of 0,5 meters and ...
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1answer
14 views

why we need both vel and acc contribution for actual position?

I was trying to understand multiwii quadcopter code. I started with understanding GPS code. Here is a section of the code where I have doubt. Why actual position = pos + velocity contribution + ...
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1answer
28 views

Fuzzy logic controller for controlling a four-bar linkage

I am trying to design a control system to move a joint of four bar linkage according to desired trajectory. A dc-motor is used to move the joint. Can fuzzy logic controller be used to solve this ...
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1answer
12 views

Plot a map using wheel encoder and IMU data

I want to plot a map( with matplotlib or any other library ) using a wheel encoder and IMU data. Eg:- For every 10cm robot moves it should draw line (in a graph) and draw angles depending on the data ...
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2answers
17 views

Basic question about Markov Localization, probability and belief distribution shift

I am starting in robotics, and reading about Markov Localization, I have one doubt, probably very stupid, but, well, I want to solve it. Let's take the CMU Website example: https://www.cs.cmu.edu/afs/...
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1answer
17 views

Libraries to calculate kinematics using Screw Theory

Most kinematics libraries/packages use the conventional transformation matrices (DH parameters). However, I'm looking for something that uses Screw Theory principles to set up the Product of ...
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0answers
5 views

seek for stereo matching algorithms

Input is a sequence of ordered images taken by calibrated monocular camera, and poses of camera at each point are provided. Now, I want to get dense depth map in real-time. Can anyone provide me ...
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0answers
7 views

ORB-SLAM pose estimation

I've been reading about ORB-SLAM and ORB-SLAM2, but I can't quite figure out how pose estimation is done. I see that it uses a bag-of-word method for loop detection, but how are current features ...
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2answers
15 views

How to configure a DC power distribution bus

If you have a distributed system of DC motors, sensors and microcontrollers, is power usually distributed over a single high volt bus, using DC converters where needed? Or is it typical to implement ...
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1answer
21 views

How to get the accurancy of the position system?

I want to build a system for positioning objects. It should be driven by a DC motor and a sensor should control the rotation angle. For the positioning I want to design (calculation) the accuracy. ...
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3answers
45 views

Simple explanation of PID control

I tried reading and searching different books and links for understanding PID control but not much progress Can some one please give me simple explanation of PID control?or atleast links where easy ...
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3answers
63 views

Control VS artificial intelligence?

I have heard of both the terms AI (artificial intelligence) based robots and control based robots. Although they are both different fields, what is the difference between AI and control in regards to ...
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1answer
22 views

Does the Create 2 have the roomba room mapping software?

My understanding is that the Roomba has a sophisticated room mapping capability. Does the create 2 include that capability and is it usable by the hobbyist?
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0answers
16 views

How does sensor fusion related to SLAM

good day, How does sensor fusion affect the slam process?, if we have stereo camera with GPS and Imu, how does sensor fusion benefit the SLAM? Does we use sensor fusion to enhance localization phase ...
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0answers
17 views

what is ultrasonic based slam

i am confused about SLAM implementation, and i need your advise to organize my mind. Fist let me say that i have to generate 2D map, what is in this case the SLAM input? is it like (x1,y1),(x2,y2)...(...
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1answer
50 views

IMU based joint angle measurement

Let us assume we have a two 2-DoF robot. Both axes rotate around x. And the goal is to measure the joint angle values with the roll value from IMUs attached on each link. However, the problem is that ...
1
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1answer
14 views

Controlling Actuated Robot Hand in Underactuated Manner

We have an allegro hand in our robot, and it is in actuated behavior. In other words, each joint is controlled one or more than one actuator, that is motor. There are 3 actuators for each finger, ...
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1answer
38 views

Jumping motion in point to point movement

I have one question about point to point movement. Let's say the end-effector is placed at $(0,0,0)$ and the goal position is at $(10,0,10)$. The corresponding joint angle value changes $d\theta$ can ...
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1answer
53 views

Path Planning algorithm

The broad question is this; given an occupancy grid and the robots current pose (x,y,theta,theta'(first derivative)) how should I plan motion for my robot with the following constraints: shortest ...
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0answers
17 views

In SLAM loop closure, What does a sim3 matrix do?

I am confused between 3D rigid affine(with scale, without shear) transformation and Lie group's sim(3) matrix. 3D affine would be [sR|t; 0 1]. we rotate, scale and then translate a 3D point using ...
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1answer
21 views

Max motor voltage for RoboClaw controller

The RoboClaw data sheet from ServoCity mentions various current limits, but what about voltage? Can I run a 110 Vdc treadmill motor?
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1answer
36 views

Do I need to use Inverse Kinematics if I have the coordinates of all joints?

So I have the positions of all the joints (x,y,z) of a robot arm. I need to calculate the angles of the joints to feed them to another similar robot arm. I cannot get the angles from the robot I need ...
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2answers
36 views

Picking up a cheap timer

I am currently working on ATmega328 timers. But it has maximum timer of only 16 bit. Even with a prescalar of 1024 and 16MHz clock, I can only produce a time interval of about 4 seconds. Although I ...
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0answers
25 views

Why are there no robot tradesmen like automobile mechanics or plumber? [closed]

I am new to robotics. I was wondering why there are no robot plumbers or auto mechanics? Is this due to technical challenges or is it due to economic reasons. Thanks
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1answer
23 views

What is the definition of the contents of PointCloud2?

What does the contents of PointCloud2 means in ROS? fields.offset? fields.datatype? ...
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1answer
25 views

How to sent commands

I bought a Create 2.0 last week and it does not have any manual to control from my computer, so I have two question How can I send commands to my Create 2.0? And what programs can I do?
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1answer
17 views

Path planning or 2D Mapping

i want to collect some ideas about this video. https://www.youtube.com/watch?v=q-ZDB8xqI7M Is the Left Vacuum cleaner using some 2D Mapping or OpenCV to navigate through the room ? Or is it just a ...
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1answer
22 views

Looking for solution to 6R inverse kinematics

I graduated from college a few years ago and over that past year have been trying to self-study robot kinematics. My long term goal is to purchase a used industrial robot and retrofit it with a real-...
1
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1answer
22 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 ...
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1answer
27 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 ...
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0answers
21 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 ...
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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 ...
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0answers
15 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 ...
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0answers
15 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
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1answer
25 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, ...
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0answers
18 views

Dynamics of a mobile robot (Roy Featherstone's spatial_v2 toolbox & Simscape) [closed]

I am using Roy Featherstone's spatial_v2 to model a mobile robot. I have a Simscape model of the robot that I use to generate test case and I encountered a situation that I don't understand. I have ...
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0answers
4 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 ...
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1answer
32 views

How can I control continuous servo motor at specific angle with PCA9685 and Arduino Uno? [closed]

I am using MG996R continuous servo motor with PCA9685 driver and Arduino Uno but I can't stop it at a specific angle...pls help me out...how can I control it..
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0answers
15 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
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1answer
35 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: ...
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0answers
11 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 ...
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2answers
36 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/...
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1answer
41 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 ...
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0answers
13 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
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1answer
26 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 : ...

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