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3 views

Sensor options for localization on linear rail

For a thesis project for ways to localize a slide on a linear rail with a length of ~1m. The slide in question is the seat of an indoor rowing machine: Concept2 Ergometer Price is definitely an issue ...
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0answers
6 views

A* alogorithm Path Planning in ROS

Can anyone help me out on how to do A* path planning in ROS. I went through a lot of resources, but most of them are using a 2d graph? I just want to know the process or workflow.
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1answer
18 views

What is the degree of freedom of the following drone?

This might be a stupid question to ask here .i am confused whether the dof of this drone is 3 or 4?
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0answers
17 views

Looking for a way to run a linear servo with one stop. (Non-Arduino)

Is it possible to wire a linear servo on a 3 position switch to run in and out with one stop in the middle without using an arduino?
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2answers
25 views

Block algebra and normal algebra inconsistent

I've been playing around with some block maths, mostly trying to remember how it actually works, and I've come to a simple example that should be reduced, however when doing the normal maths, compared ...
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0answers
18 views

How to get transformation between a camera and a CNC plotter?

I have a question about robot and camera calibration. I have experience to calibrate btw 6DOF robot arm and hand-eye camera. But this time I should use a machine like CNC plotter. This machine can ...
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0answers
42 views

Should robots have rights? [on hold]

I have a question. If we are able to make robots be as human-like as possible, then should they have rights? If so, would they be human rights or specific robotic rights, sort of like how there's a ...
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1answer
14 views

SLAM and navigation

I have a question about SLAM. Is it common for SLAM to be used for mere map generation? For instance, have a map generated using ORB-SLAM and then freeze the map for future path planning where future ...
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1answer
55 views

What are wheel ticks and wheel impulses?

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and we have odometry data provided to us which gives the x-position of the vehicle, y-position of the vehicle ...
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0answers
25 views

Convert Vehicle coordinates to World coordinates for positioning

I'm tracking the position of a vehicle along a certain trajectory using the Kalman filter and the idea is to check for improvements in position estimation through fusion of data from multiple sensors (...
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1answer
35 views

How timer interrupt is handled in the presence of other interrupt services?

When timer interrupt is received, if there is already some ISR being executed, doesn't it delay (elongate) the time interval measured? If yes, how is it handled? For the sake of precise time ...
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2answers
37 views

Why would I use three state variables for a second order system? [state space modeling]

I'm currently being asked to write a state space model of a falling object (equation attached). I had taken a linear systems course five years ago in which I did a lot of conversion between high ...
2
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1answer
24 views

Constant Offset matrix

I've been reading about controlling systems via momentum wheels. Such as in Satellites, or fancy inverse pendulums. In a particular paper, the writer tries to explain away an offset and settling of ...
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2answers
41 views

Calculating Error of Arm Manipulator

How can we calculate the error position of arm manipulator? Let's say we have a Transformation Matrix: $$\begin{bmatrix} R_{00} & R_{01} & R_{02} & x\\ R_{10} & R_{11} & R_{12} &...
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1answer
86 views

question about spatial velocity in the book <modern robotics>

I think the equation(3.73) should be: $\dot p-w_s$x$p=\dot p-\dot p=0$ have no idea how it can be wrong and don't know the difference between infinitely large body and a body just include the fix-...
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0answers
9 views

Can't set ID to Dynamixel MX-64

I have 2 WidowX robots which I already successfully address ID's for all the MX-28 and AX-12A servos using ROS code in the Arbotix controller with the Dynamanager 1.3 on a Mac but I can't detect any ...
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1answer
25 views

How does sensor fusion help in robot localization

Good day... Sorry for bigner quesion, but really I need some friendly explanation rather than long reference I have 9 dof mpu9250 imu and gps. I found some source that calculate euler angle in ardunio ...
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0answers
19 views

Line Following Acute and Right angles and Proportional steering help

I am trying to figure out the logic for a line follower with the path shown in the attached image. I am having trouble with <= 90 degree angle turns. So far, I have been using the logic where if ...
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2answers
22 views

Is there a specific way or module I can use to stream video data from a camera hooked to an Arduino Uno board?

I'm currently thinking about the feasibility of creating a robot which streams live video footage and other data such as temperature, humidity, etc. to a smartphone. Is it possible to do this on an ...
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1answer
26 views

IR sensor spacing in sensor array relative to line width

I'm trying to build a line follower bot that follows a 3cm wide black line. I have a line sensor array with 6 analog sensors spaced 1cm apart. This means that in an ideal situation, i.e bot going ...
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0answers
27 views

Robot moves sideways in RVIZ ROS

I'm using robot_localization to fuse odom, imu and gps data on a husky robot. After fusion, the robot now moves forward in gazebo but sideways in rviz. I found this question. But the suggested ...
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0answers
15 views

What is the baseline of a RGBD camera?

I'm looking at some ORB SLAM2 settings where there's a parameter for "IR projector baseline times fx". Could someone here explain what exactly is the baseline of an IR projector? Is it the distance ...
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1answer
26 views

Unlabelled pins on this L293D dual DC motor driver

I've got this board from a local store. It's an L293D based dual DC motor driver. All the pins are labelled except the 5 on the bottom as shown in the picture below. Couldn't find any datasheet or ...
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3answers
31 views

Understanding the SICK S300 RS422 data output

I'm using a SICK S300 safety scanner connected via RS422 -> USB and I'm trying to decode the lines of data into meaningful values, however looking at the data compared to the Telegram Listing it seems ...
-1
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1answer
44 views

360 Continuous Rotation Servo only goes 180 degrees

I bought the following servo: D DOLITY High Speed 360 Degree Continuous Rotation Servo for Robotic(15kg/cm) Metal Gears Servo I'm trying to get it to spin in one direction continuously, but it looks ...
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0answers
14 views

AlphaBot2 run / migrate to .NET Core

Bought this robot called AlphaBot2. Has sample code here: https://www.waveshare.com/wiki/File:AlphaBot_Demo.7z What I am interested in knowing is how do I convert these Python samples to C# with .NET ...
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1answer
39 views

Calculate ticks with three encoders?

I have a question regarding calculating the ticks in a sensored BLDC. The BLDC has three hall effect sensors with slightly differing phasing and there are 30 magnets in 360 degrees of wheel rotation. ...
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2answers
40 views

What exactly is a nodelet?

I am new to ROS. I tried to read the documentation regarding nodelets on ROS wiki. But I couldn't understand it very well. I would like to know what is a nodelets in simple and intuitive terms
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1answer
24 views

Autonomous quadcopter: How to transform setpoint into motor inputs?

I would like to know how to transform a setpoint to inputs for the motors of a quadcopter. I would like a function like that: ...
0
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1answer
25 views

Drone Payload Potential

I am new to the art of building quadcopters and am looking to build a camera platform with a payload of 250g. With the following setup would that be possible or could someone point me in the direction ...
0
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1answer
29 views

teleop_twist_joy with Logitech F710 Joystick force feedback error

I am using a Logitech F710 joystick game controller in ROS Kinetic Kame. I was able to perform jstest testing, and can see my joystick works well. But when I try ...
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0answers
27 views

Path planning algorithm to run my floor cleaning robot/zig zag path travel

I am creating a floor cleaning robot with obstacle detection as my final year project. The basic task of the robot is to clean the floor while avoiding obstacles using an ultrasonic sensor. The ...
1
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1answer
21 views

Problem with moving heavy computation into ISR's (dspic33E)?

I am controlling a robotic system using a dspic33E. I have a few PID control loops for motor control, several SPI slaves, and an I2C master that I communicate with. Currently, I use interrupts for ...
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1answer
30 views

Variables that Improve SLAM

I have a general question regarding SLAM as I am not an expert on the topic. What are the variables that can improve map generation? The ones I can think of are: A higher resolution camera ...
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0answers
17 views

Decrease minimum depth of a RGBD camera

I have a Kinect camera which has a minimum depth of 0.5m and I'm trying to find a way to decrease it to around 0.2m for near-depth detection. Does anyone know how this can be done? Can a macro lens be ...
2
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1answer
50 views

What is the purpose of these grey balls on the drone?

Are these used for position tracking? Are there any papers
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0answers
27 views

Relation between PWM frequency and torque

I am using Pololu G2 18v15 to drive a maxon motor. The motor is supposed to drive a load in a sinusoidal trajectory against gravity with maximum torque of 0.0634 NM with max speed of 5 rpm. I am using ...
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1answer
17 views

Selection of motor and Calculating the torque for 6DOF robot Arm

I am trying to select the motor for a robot arm with six degrees of the freedom robot arm. What should I do to select the motors and which type of motor I should select?
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0answers
53 views

How to synchronise data for fusion in Kalman from multiple sensors with different timestamp information?

I'm using Kalman filter to track the position of a vehicle and receive position data from 2 sensors: A GPS sensor and an Ultrasonic sensor for which I want to implement sensor fusion into the Kalman. ...
1
vote
1answer
41 views

Null space of the Jacobian matrix for a robotic arm

I have doubts on how to find all the joint velocities that don't produce any linear velocity, so are in the Null space, when we are in a singular configuration. For example, suppose we have a 2R ...
2
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2answers
73 views

Why is behavior-based robotics not as popular as deep learning or reinforcement learning?

I am a master student in Germany and one of our professors is doing robotics research but with a different paradigm - the behavior-based robotics based on Subsumption Architecture developed by prof. ...
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1answer
31 views

Data structure to store a robot map

I'm studying robotics at the university and I have to implement on my own SLAM algorithm. To do it I will use ROS, Gazebo and C++. I have a doubt about what data structure I have to use to store the ...
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0answers
9 views

ROS rqt_plot and rqt_multiplot font change

I am trying to plot my gazebo simulation data in rqt_plot or rqt_multiplot. However, after plotting is done I would like to change the font size/style on the plot. So far I could not find a way how ...
1
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0answers
78 views

Inverse kinematics of a sun tracker with swapped axes

I am realizing a sun tracker based on latitude, longitude, and date-time. The system calculates the azimuth and elevation angles to track the sun. In a classic sun tracker, the azimuth axis is ...
0
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1answer
33 views

For what step disturbance value the system will become unstable?

I am new to control theory and have difficulties about this question R is the input, Td is the disturbance, C is the output Given that G1=K/(s^2+A*s), where K is the gain and A is a parameter greater ...
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0answers
20 views

Working with large bag files efficiently

I'm running into issues playing large rosbag files (over 50 Gb which exceeds my RAM size) consisting of several chunks using launch file. It seems that the file is processed sequentially in chunks, ...
0
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0answers
16 views

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 ...
0
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0answers
35 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 ...
0
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2answers
25 views

effect of three terms of PID controller on output response? [duplicate]

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
58 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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