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3
votes
2answers
579 views

Using an IMU to build an INS

What's needed to utilize an IMU such as the ArduIMU+ V3 to be used in an INS. Is there any other hardware needed?
1
vote
1answer
792 views

Rainbowduino 3.0 - Arduino IDE fails to upload

OK, not really robotics, but has anyone been able to upload to a Rainboduino v3.0 using the Arduino IDE? I can't seem to figure it out, and there is virutally no documentation online. I followed this ...
1
vote
1answer
279 views

Compatable ESC's with brushless 3 phase motors

Am trying to find the right ESC for the following two motors http://www.e-fliterc.com/Products/Default.aspx?ProdID=EFLM30180MDFA#quickFeatures http://www.e-fliterc.com/Products/Default.aspx?ProdID=...
17
votes
2answers
20k views

Computing the Jacobian matrix for Inverse Kinematics

When computing the Jacobian matrix for solving an Inverse Kinematic analytically,I read from many places that I could use this formula to create each of the columns of a joint in the Jacobian matrix: ...
5
votes
3answers
550 views

Is it practical to 3D print a refractive lens?

A lot of awesome optics projects like hacking cameras and projectors become possible with CAD lens modelling software1, if we can also easily prototype the lenses we design. What are some materials ...
16
votes
2answers
2k views

EKF-SLAM Update step, Kalman Gain becomes singular

I'm using an EKF for SLAM and I'm having some problem with the update step. I'm getting a warning that K is singular, rcond evaluates to ...
-5
votes
2answers
2k views

How can I start learning robotics? [closed]

For someone interested in robotics but do not know the ABC of robotics or mechanical/electronic engineering .What's a good roadmap for becoming an amateur roboticist . I'm studying theoretical physics ...
0
votes
1answer
165 views

Where can I find a tutorial or sample code for the Juniper WiFi Arduino Shield?

I recently got an arduino wifi shield known as "juniper" (I believe it was by cutedigi). I've tried to find code examples, but when I saw code, it was un-commented and very little explained, I could ...
4
votes
2answers
4k views

Choosing motors for 2 wheel drive robot

I am making a 2 wheel drive robot. Suppose I know that my robot is going to weight x kg when finished and I know the diameter of the wheels y (geared motors will be connected directly to the wheels). ...
4
votes
3answers
155 views

Is there a place for posting “look at what I did” videos?

Robots are somewhat videogenic, and the old saying "show me, don't tell me" is especially applicable. But of course, a video is not a question, so it doesn't fit the Stack Exchange format. Maybe ...
12
votes
3answers
7k views

I don't understand Integral part of PID controller

I dont understand integral part of PID controller. Let's assume this pseudocode from Wikipedia: ...
3
votes
2answers
154 views

Collaborative Behavior: Implementing a Bucket Brigade With Robot Arms

I was wondering whether something like this is possible: A block of ice(say) needs to be transferred piece by piece from a source to a destination with the help of 5 robots standing in a straight line ...
5
votes
5answers
10k views

More powerful alternatives to Lego Mindstorm NXT 2.0? [closed]

I'm interested to build Robot from my imagination, and I was looking to purchase a robotic kit. I find the Lego Mindstorm NXT 2.0 really interesting for many reasons : You can plug whatever brick you ...
5
votes
1answer
194 views

Is it possible to use Matlab “system” function to call ROS commands?

Is it possible to use the Matlab's system function to call ROS commands? For example, using ...
8
votes
5answers
1k views

Strategies for managing power on electrical systems for mobile robots

What are some good strategies to follow while designing power supply for electrical systems on mobile robots? Such robots typically comprise of systems with microprocessor, microcontroller, DSP, etc ...
24
votes
5answers
22k views

Particle filters: How to do resampling?

I understand the basic principle of a particle filter and tried to implement one. However, I got hung up on the resampling part. Theoretically speaking, it is quite simple: From the old (and ...
8
votes
1answer
577 views

How can I optimise control parameters for a stepper motor?

As an industrial roboticist I spent most of my time working with robots and machines which used brushless DC motors or linear motors, so I have lots of experience tuning PID parameters for those ...
13
votes
5answers
685 views

USB instead of RS232

RS232 is not popular as it used to be and is mainly replaced by USB [wikipedia]. Problems such as mentioned in this question doesn't help its reputation either. In a new system design therefore, one ...
-5
votes
1answer
380 views

Humble beginnings [closed]

I want to learn robotics and build my first robot. I am looking for a well supported kit that is simple enough and can walk me through, the initial stages of my intellectual pursuit in Robotics. I ...
6
votes
1answer
198 views

Is there a working implementation of “Navigation Among Movable Obstacles” for a bi-pedal robot?

I would like to have a better understanding of work in the field of "Navigation Among Movable Obstacles". I started off with Michael Stilman's thesis under James Kuffner, but that has not yet sated my ...
4
votes
1answer
781 views

Connecting a 6 pole motor to a motor driver?

We are trying to power this motor with this motor driver , using a 11.1V 2.2Ah lithium-ion polymer battery. (We're in over our heads with this and really need the help) We checked with the company (...
11
votes
3answers
6k views

In PID control, what do the poles and zeros represent?

Whenever I read a text about control (e.g. PID control) it often mentions 'poles' and 'zeros'. What do they mean by that? What physical state does a pole or a zero describe?
9
votes
4answers
11k views

How can one determine whether a LiPo battery is going bad?

In our lab we use LiPo batteries to power our quadrotors. Lately we have been experiencing stability issues when using certain batteries. The batteries seem to charge and balance normally and our ...
6
votes
4answers
20k views

How much torque do I need for a CNC machine?

I have a handful of 31.2oz-in stepper motors (Mouser.com - Applied Motion: HT17-268D), and I was curious if they would be big enough to run a 3D printing/cutting/etching type (think RepRap) of machine....
11
votes
4answers
4k views

How to obtain dense point clouds from stereo cameras?

I am trying to use a stereo camera for scene reconstruction, but I can usually only obtain sparse point clouds (i.e. over half the image does not have any proper depth information). I realize that ...
11
votes
1answer
2k views

How can the dynamic effects of motor current on a digital compass be characterized and compensated for?

Digital compasses (magnetometers) require a hard/soft iron calibration in order to be accurate. This compensates for the magnetic disturbances caused by nearby metal objects -- the robot's chassis. (...
8
votes
2answers
336 views

How do I model a robot?

The answers I received to the question on training a line following robot using reinforcement learning techniques, got me to think on how to train a robot. I believe there are essentially two ways - ...
6
votes
3answers
966 views

Visual Odometry options? [closed]

What are the pros/cons of the different visual odometry options? Stereo Camera Optical Flow SLAM other? Criteria: how well it performs vs other odometry options/sensors (lidar, radar) sensor ...
1
vote
1answer
1k views

Inverse Kinematics in Java

I'm planning to write an Inverse Kinematics controlled 6 dof virtual robot for Android. I did some research on packages avaliable and couldn't choose the right one which will satisfy my needs on this ...
-1
votes
2answers
403 views

How do you implement an INS from an accelerometer and (optionally) gyros and a magnetometer?

I'm building a walking robot that will need to know when it moves forward. I'm using on-board intelligence and I plan on using accelerometers, gyros, and magnometers (if needed) to be able to detect ...
17
votes
3answers
2k views

What is the best way to power a large number (27) servos at 5 V?

I apologize if this question may sound a little vague. I am working on a robotics project that will contain 27 servos of various sizes and I am having trouble figuring it how they should be powered. ...
6
votes
3answers
2k views

Questions about quadcopter and radio controller

I have not bought any parts yet, but I am making my own quadcopter. I have done the research and know all about the parts that I need, but many guides are sponsored and cost thousand(s) of euros/...
10
votes
3answers
154 views

Selecting an accelerometer for Deduced Reckoning

I have never used an accelerometer before, but I am aware that they come with I2C, SPI and analog outputs. If I choose to use an I2c or SPI, device, will I accumulate errors due to communication time? ...
-1
votes
2answers
121 views

What is the current state of the Google Self Driving Car Project? [closed]

I am aware of the legislation's in Nevada, but what is happening with the technology currently. When is it expected to be commercialized ?
4
votes
3answers
2k views

Can I use IMUs to improve the position/posture measurement of fingers in a “data glove”?

I have been using the Cyberglove to control a humanoid robot hand, but found it disappointing as it doesn't measure the posture of the human hand very accurately. I have been wondering about the ...
26
votes
2answers
23k views

How to fuse linear and angular data from sensors

My team and I are setting up an outdoor robot that has encoders, a commercial-grade IMU, and GPS sensor. The robot has a basic tank drive, so the encoders sufficiently supply ticks from the left and ...
1
vote
4answers
277 views

Processor and command interface preference for a robot arm

I want to build a robot arm that'll be approximately 1.25 meter long and will be able to lift up to 2 kilograms. It'll have 6 dof and it is an expensive project. And most importantly, i am the only ...
7
votes
2answers
1k views

Are inverse kinematics and reinforcement learning competitive techniques?

Are inverse kinematics and reinforcement learning techniques contending techniques to solve the same problem viz. movement of robotic manipulators or arm? By a glance through the wikipedia article, ...
15
votes
2answers
4k views

Programming a line following robot with reinforcement learning

I am considering programming a line following robot using reinforcement learning algorithms. The question I am pondering over is how can I get the algorithm to learn navigating through any arbitrary ...
8
votes
1answer
182 views

What kind of performance can I expect when using an Extended Kalman Filter for calibration and localization?

Currently I have a tricycle style robot that uses an extended kalman filter in order to track 6 state variables. The inputs to the system are a steer encoder, a distance encoder, and a rotating laser ...
6
votes
3answers
2k views

restricting range of motion with complex constraints

I am looking for a way to restrict a robot's range of motion, using complex constraints such as not tearing of a cable attached to the robot. Take an articulated 6-axis robot arm as shown below, with ...
6
votes
1answer
206 views

Is subsumption architecture still an active area of research?

I am interested in learning more about subsumption architecture. I have read a number of books that talk about the idea but none of them go into great detail. I have also read a fair number of Dr. ...
9
votes
3answers
2k views

With a 6-axis robot, given end-effector position and range of orientations, how to find optimal joint values

Given a six-axis articulated robot arm holding a tool at its end-effector, if I have a desired tool position and tool orientation, there will be exactly 1 solution to the inverse kinematics equation ...
-2
votes
2answers
236 views

What are some common mistakes that robots make? [closed]

Is there a taxonomy of errors that are common in robotics? Things that come to mind but I don't have names for are: Getting stuck in a stable infinite loop Going into an unstable feedback loop (A ...
6
votes
1answer
137 views

Tendon longevity

I am thinking of developing a tendon driven robot manipulator for an industrial application that requires a high level of reliability. However, I am aware that tendons in a robot are prone to wear and ...
0
votes
1answer
64 views

Is there a list of maneuvers related to control of a tracked platform?

I have a platform with two tracks and two motors. Each one uses an electronic speed control with "double tap to reverse". Each ESC takes an input pulse train frequency from at 1500 neutral +/-700. I'...
3
votes
2answers
178 views

Robot Serial Communication Error

We are using a Koro robot for our PC based automation solution. But sometimes the robot is getting the command but refuses to respond. Then I get a serial communication timeout error. The error is ...
6
votes
5answers
5k views

Learning Algorithms for Walking Quadruped

I'm building a 4 legged robot (quadruped) with 3 Degrees of freedom per leg. The goal of my project is to make this robot able to learn how to walk. What learning algorithms will I need to implement ...
4
votes
1answer
156 views

IPC-Bridge problem

Is anyone able to help me out getting IPC-bridge working on my ubuntu lucid installation (with matlab 2012a)? I'm not being able to finish the last step on here (Compiling the messages folders): https:...
7
votes
2answers
203 views

How much can working with CNC machines teach you about robotics?

I have built a few simple X/Y/Z CNC machines. I've learned about G-Code, motor control, firmware and open loop systems. I see machines like rovers, big dog and factory arms that seem incredibly ...

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