# All Questions

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14 views

### Relative pose of 2 sensors in rigid body

I have a robot (gray box in the picture) that I can rotate in 3D (x, y, z) relative to a center of rotation. Let's say that this robot has two sensors with fixed poses in the robot: One IMU that can ...
18 views

### Simple plastic welding machine

I'm doing a little hobby project where I want to weld two thin plastic sheets together, using two heated plates with a specific pattern. I was doing this manually but felt that the result was ...
27 views

### How to calculate relative rotation between two IMU's

I'm trying to obtain the relative rotation between two IMU's. In order to verify the quality of the orientation delivered by the IMU (quaternions), I attached both IMUs to a rigid body (bar) but ...
29 views

### How do you write unit tests for robotics related software?

In my case, I have a library handling 3D input data and want to write tests in order to make sure that my coordinate transform chains for getting the 3D points from A to B are correct. The problem I ...
23 views

### Robot Localization - Motion and Sense Probability

I'm currently taking Udacity's AI for robotics course and came across a question that stumped me. The problem plays on localization probability given uncertainty in our measurement updates. The first ...
41 views

### Dexterity calculation with dual quaternions

How can the manipulability of a robot arm be calculated when the kinematics are described with screw theory such as dual quaternions? These methods are sigularity-free, but what could we say about ...
20 views

### get position of objects using ir

I originally wanted to make a shoddy vr system with two IMU's in two seperate right and left controllers, which their values could be sent over wifi to the game service unity so I can plot their ...
18 views

### Difference between constant curvature kinematics and rigid link kinematics

What is the difference between constant curvature kinematics and rigid link kinematics and what is their respective definition?
27 views

### Where do matrix A and A transpose come from in calculating the predicted covariance matrix?

I don't understand where the matrices A and A transpose come from in the equation in this series. I have done a one-dimensional ...
5 views

### Difference between observed errors and this error matrix in kalman filter?

I have been watching this video series to try to understand the kalman filter. The instructor has this layout explaining the process. What I don't understand is the difference in the error matrix <...
38 views

### Jacobian to determine the linear velocity of each node (DOF 3 RRR robot arm)

I've done the FK and IK for this robot: On those I seem to be able to get to the positions I want on the simulator so I'm assuming nothing is wrong with my FK and IK calculations. I've tried to ...
12 views

### What is the dynamic model of a biped robot in double support phase?

I would like to know What is the dynamic model of a biped robot in double support phase? As drawn in Fig.b and Fig.c. I have already known (partly) how to model the single support phase drawn in Fig....
42 views

### Inverse Kinematics with Orientations

Let's say I have a robot consisting of a base $B$ and a manipulator $M$. The pose of the manipulator can be expressed as the transformation matrix $T_{BM}$. I also have a goal $G$ which I want to move ...
39 views

### OpenCV4.2 and Ubuntu16.04 with python2.7?

Summary: I'm using new vision of opencv, opencv 4.2 with ubuntu 16.04 and python 2.7 After built cv_bridge, the output is: ...
59 views

### Controlling the pose of a manipulator using inverse kinematics

I want to control a robotic manipulator in Cartesian space, using inverse kinematics. I know that I can do this using $\omega=J^{-1}v$, where $\omega$ is a vector of joint velocities, $J$ is the ...
25 views

### Measuring a Motor's Internal Temperature

As a final safety measure regarding some high wattage motors, I want to measure their temperature (either internal or surface) in live time so that I can automatically kill the power if it crosses a ...
41 views

### From an end-effector trajectory to joints movements

let's assume that our robot consists of 3 degree-of-freedoms. In order to move the end-effector of this robot along a straight line, these 3 joints have moved as below: Now, if the desired end-...
13 views

### ROS Network configuration on multiple machines - Publisher and Subsciber

I am trying to set up a simple and listener talker across two machines connected on the same wifi network. Machine A has the 10.42.0.89 address and is running the roscore and another node that ...
18 views

### Caculate/Specify the covariance matrix for a omniwheel robot

I have an omnidirectional robot (x, y and rotation around z), which I would like to use the SLAM-algorithm from ROS. But the odometry from the robot has a drift, which makes some error. To improve the ...
101 views

### Conveyor Belt Calibration for a Robot - Rotation Matrix

Short Question: As demonstrated in the image below, how can I calculate the rotation matrix that relates the base coordinate and the rectangle coordinate, given 3 known points P1, P2, P3 on the ...
34 views

### what are shoulder ball and socket joints called? (i am trying to design and build a hydraulic assistance mech suit)

I'm having problems finding the right sort of joint for my shoulder connection. It is a flat surface on the side of the mech body and I need to create a joint with maximum movement rotating: up, down ...
31 views