8
votes
Accepted
Designing a 5 bar linkage robot: Plot Clock
Both the forward kinematics and inverse kinematics aren't too difficult, but always a little tricky for parallel manipulators like this one. Consider the configuration in this diagram.
The forward ...
- 1,377
5
votes
image processing
Ball detection using vision is not extremely difficult, especially if the ball is easy to recognize. There are a lot of tutorials and blogs which give a detailed explanation on how to implement an ...
- 260
5
votes
Accepted
How do I find the inverse kinematics of a 5-DOF manipulator having the following DH parameters?
A general IK solution is not possible for an arm with less than 6 joints. You can move the gripper to any point (within reach) but you can't completely control the orientation. If you fix the ...
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4
votes
How do I find the inverse kinematics of a 5-DOF manipulator having the following DH parameters?
If you say you're are stuck after values for the first two angles, you are probably trying an analytical approach. Try solving for IK using standard techniques Jacobian Pseudo Inverse or Cyclic ...
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4
votes
Accepted
Definition of robotics manipulator?
The original manipulators referred to in that article were through-the-wall pantographs which moved radioactive materials without the human operator having direct contact with those materials. The ...
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3
votes
Accepted
Is there a Java or mathematical algorithm for Pure Path Pursuit?
In words, rather than code. Assume you have the path defined as a dense list of points.
Find the point on the path closest to robot
Draw a circle of radius R about that point, then find the point on ...
- 1,692
3
votes
Accepted
How can I use an RC servo to rotate more than 360 deg and still maintain positional accuracy?
While originally creating this question I ended up finding an RC servo that can do this.
HiTECH makes an RC servo (HS-785HB) that uses a muti-turn potentiometer rather than a standard rotary ...
- 705
3
votes
Accepted
What does it actually mean by Task Planning?
I think what you are seeing here is a decade advancement in microprocessor and robotic control technologies.
By the time the second and third papers were written, in 2000 & 1998, the definition ...
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3
votes
Matlab Simulation using Webots!
You've got two serious problems clearly stated in your error message:
Warning: Name is nonexistent or not a directory: C:\Program Files\Webots\lib\matlab
And
The MATLAB "MinGW-w64 C/C++ ...
- 16k
2
votes
Designing a 5 bar linkage robot: Plot Clock
Not to completely ignore your direct questions, but I think you are overthinking the problem. I don't believe any linkage math or even inverse kinematics are required. The main reason is that the ...
Ben♦
- 5,825
2
votes
Low power to motors -- motor power jumper issue
I had the same problem with the "Ultimate 4tronix Initio 4WD Robot Kit" - the motors make some noise, but do not start moving. I tried using 8 batteries instead of 6 (for higher voltage on the motor), ...
- 21
2
votes
Accepted
Robots with less than 6 degrees of freedom
Short answer: No.
Long answer: In how many dimensions you are defining 'any'?
The best way to understand it is actually through math.
Let's say you have a desired position $$p=\left[\begin{matrix}x\...
- 103
2
votes
Can you detect if encoder wire is connected on a motor?
If you have a situation where your motor can break your system, for a small DC motor then rather than relying on a solution which requires the software to detect the condition, instead add limit ...
- 521
2
votes
Combustion engine controlled with a remote
I will assume that you going to make everything from scratch.
For computing unit I would recomend to use STM32 microcontroller (use Discovery or Nucleo board) however if you have never programmed ...
- 51
2
votes
Accepted
why atleast three points are needed to control 6 dof?
We need to be able to track 3 points, (sometimes called features), on a solid body to estimate its 6dof pose relative to the camera.
Each has an estimated position in the 2D camera image.
If you ...
- 4,385
2
votes
Is there a more accurate feedback loop with less overshoot or disturbances than PID?
You might want to try a Non linear controller if you want disturbance rejection. But I will suggest you to fine tune your PID first.
Now, back to non linear controls, you need to develop a very good ...
- 163
2
votes
Question about programming approach of a dog like quadruped robot
I believe you should start from below and up.
First, validate the inverse kinematics for the 4 legs you build. Remember that small mistakes accumulate over time, so it's best to ensure minimum error ...
- 326
2
votes
Question about programming approach of a dog like quadruped robot
First of all, I would implement a simple gait type with static stability. It is the easiest to implement and if you have already figured out the leg inverse kinematics it should bring fast results. ...
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2
votes
Accepted
Beginner Sets for intermediate devs
If you want to start programming a robot that's already built, the Scribbler 3 (S3) robot by Parallax, inc. is relatively affordable and comes already assembled. The programming relies on Blockly, a ...
- 46
2
votes
can we detects animals through PIR(passive infrared sensors)
Warm blooded mammals and birds should be similar to humans as far as these sensors are concerned, amphibians and reptiles probably not.
Here are some thermal signatures from sensors that are more ...
- 1,047
2
votes
Controller Design using Webots!
Since you already have controller code written for the physical robot, I recommend creating a set of adapters so you can run the same code in Webots, instead of rewriting everything from scratch.
The ...
- 1,353
2
votes
Accepted
What is the concepts of submaps in LIDAR based graph slam algorithms?
The word is exactly as it sounds. It is a submap of a larger map. Essentially a large map is broken up into smaller submaps in order to improve the computational complexity.
In the reference you ...
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2
votes
How can I allow for this code to switch from remote control to autonomous?
The code for “task autonomous()” should be outside of the main() function.
- 4,386
2
votes
How to calculate potential enegy of manipulator dynamics?
We have the position of the COM of the $i_{th}$ link with respect to the $(i-1)_{th}$ frame (or joint). Also, the homogeneous transformation matrix relating the $(i-1)_{th}$ frame to the $0_{th}$ ...
- 31
2
votes
Conversion of roll, pitch and yaw from ENU to NED
ENU = East, North, Up
NED = North, East, Down
So, if you have x_ENU, y_ENU, and z_ENU, then:
...
- 16k
1
vote
Is there a Java or mathematical algorithm for Pure Path Pursuit?
Here's an example implementation in Java for FRC:
https://github.com/Team488/SeriouslyCommonLib/blob/master/src/main/java/xbot/common/subsystems/drive/PurePursuitCommand.java
Let us know if we can ...
- 111
1
vote
How to proceed whith this design problem?
1) StackExchange is really not intended for the side-by-side mentoring it seems you are looking for. It is a good place to ask questions about specific problems you run into.
2) Python is not the ...
- 705
1
vote
Flight controller drift issue
You are using cheap MEMS components, they are typically prone to noise and drift.
I don't know how you retrieve your angles but the sensors are giving you angular velocities and linear accelerations. ...
- 1,402
1
vote
Accepted
How to get starting location of robot using IMU Sensor (without using gps)
An IMU gives you linear acceleration and rotational speed. It doesn't give a position.
You can integrate the output of an IMU to get a linear position and angular orientation (the pose), but you ...
- 16k
1
vote
How to keep track of (x,y) co-ordinates of a line-following bot?
Keeping tracking of (x,y) location would fall under state estimation. One fundamental method of state estimation is odometry.
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Only top scored, non community-wiki answers of a minimum length are eligible