Questions tagged [movement]

movements. actions or activities, as of a robot or a body of robots.

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Move a Simulated Quadcopter in a straight line

I'm trying to move a quadcopter in a simulator from (x0, y0) to (x, y) in a straight line at a constant speed. The simulator takes x and y inputs in m/s. Altitude as an input is a constant value in ...
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From speed vector to motor control

I'm working with Mona robot (image bellow). The movement is controlled by settings the speed of each wheel. I'm trying to find a way to convert a speed vector into motor control so that the robot will ...
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1 answer
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How do you move large industrial robots? [closed]

I know how they are moved on to a lorry/truck to be taken somewhere but when industrial robots are being built how are they moved around the production centre.
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1 vote
1 answer
201 views

How to handle robot movement close to coordinates x=0 with atan2

I am working on controlling a robot to various points on an x,y grid. The robot starts at random locations and I can control it's velocity and angular velocity. Currently, I am using the technique of ...
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1 vote
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106 views

Rotate while strafing with mecanum wheels

I have a robot with a drivetrain that is comprised of 4 mecanum wheels. These wheels are able to move vertically and horizontally, as well as rotate. The robot is square (18in x 18in) with the front 2 ...
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1 vote
1 answer
228 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 ...
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1 answer
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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 ...
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Algorithms for controlling low-speed movement of gearless robots

Collegues, i am a little discouraged by the lack of a clearly formed section in the literature on which algorithms are used to control the low-speed movement of gearless robots. In my opinion, it is ...
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3 answers
122 views

ABB RAPID - calculating seam length

I have an Arc welding RAPID program with many seams. One of them looks like this: ...
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2 votes
3 answers
125 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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  • 123
2 votes
1 answer
253 views

How to publish odometry from 3 wheeled omnidirectional robot?

I'm new to ROS and robotics and I'm trying to implement the ROS navigation stack in a 3 wheeled omnidirectional robot. I already made the map using RTABMap but now I'm stuck in the 'Publishing ...
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1 answer
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Robot mechanism parts names

I'm working on my first "robotic" project that involves a square platform that should drop one of the four sides at a time. ...
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1 answer
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Can I program my roomba to run essentially all day (except for charging, of course)?

I'm an artist with basically no programming background. I need to make my roombas (3 of them) move around a gallery space throughout the day and night (the gallery will be visible from street view 24 ...
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1 answer
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Can somebody explain how these forward kinematics matrix equations were formulaed?

Here's the link to the entire answer: Designing a 5 bar linkage robot: Plot Clock
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1 answer
3k views

how to implement trapezoidal velocity profile in code

I want to use a trapezoidal velocity profile(cartesian) but I struggle with implementing the equations to code(c++/python). Does anyone have an example for this? UPDATE more details about my problem. ...
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1 vote
0 answers
118 views

Algorithm for orientation (pan/tilt) towards a moving point

Main Question: note: The code in this question is pseudo-code, I'm using Python, but my pseudo-code is a mix of Python and C++. I have a camera on the top of my robot's "head" which has pan and tilt ...
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4 votes
1 answer
1k views

How to move robotic arm in straight line

So here is my problem. I need to grab an object with my robotic arm, but I don't know the position of the object. The only thing I know is the angle between object and gripper. You will maybe better ...
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6 votes
3 answers
2k views

What does SE mean in robotics literature?

I've come across the abbreviation SE several times recently. I know it has to do with the pose of the robot, and the degrees of freedom. Most recently I found it on page 8 of this paper: D. Kragic ...
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2 answers
140 views

Are robot's codes usually compiled or interpreted?

I would bet that usually these are compiled for better performance, and of lawful reasons (make it harder for any user to save code without decompiling), though I'm not sure. In any case, I believe ...
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0 answers
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Which Trajectory representation for optimization

I'm strugling on that problem for a while, so any help is welcome. I need a trajectory representation that is performant for optimization, i.e. I want something that computes quickly. The function I ...
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2 votes
2 answers
452 views

Math behind trajectory planning

Let's assume the very simple case of a particle and a control system in one dimensional space therefore our particle can move only in a straight line and dynamics of system is described by: $m\vec{a} ...
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1 vote
3 answers
200 views

Robot Veering to the Left

I'm currently programming in RobotC, for a Vex 2.0 Cortex. I'm using encoders to make my robot go straight. This is my code: ...
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1 answer
809 views

holonomic and non holonomic constraints in layman's term

I'm new to robotics and I've been reading some slides online regarding motion planning. Due to my lack of knowledge in mechanical engineering, I'm having a difficult time understanding what holonomic ...
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3 votes
2 answers
797 views

State estimation of mobile robot

For a mobile robot - four wheels, front wheel steering - I use the following (bicycle) prediction model to estimate its state based on accurate radar measurements only. No odometry or any other input ...
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2 votes
2 answers
164 views

Estimating state of moving object from other moving object

What is the best way to estimate the state [x-position; y-position; heading (yaw angle); velocity; acceleration; curvature (or yaw rate)] of a moving ...
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1 vote
0 answers
612 views

SLAM - odometry motion model

I am making a project with a 4 wheeled differential robot to make visual SLAM using a stereo rig. I have some encoders to measure de displacement and the steering angle of the robot and I want to use ...
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10 votes
3 answers
34k views

What's the difference between a holonomic and a nonholonomic system?

I was wondering if a 1D point mass (a mass which can only move on a line, accelerated by an external time-varying force, see Wikipedia - Double integrator) is a holonomic or a nonholonomic system? Why?...
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1 vote
1 answer
52 views

How to find center of a disk using robotic arm

Hello I am new to the field of robotics but have some knowledge of raspberry pi, arduino, python. I want to make Robotic arm which can be used to find the centre of any disk. There may be disk of ...
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0 votes
2 answers
637 views

High-traction thin tires vs Wide moderate-traction tires? [Sumo-bot] [closed]

I am building a sumo-bot and our competitors have thin sticky tires, while we have wider and less sticky tires. The diameter is the same, and the gearbox/motor is the same. Who will win? PS: Sticky ...
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1 vote
1 answer
119 views

What are the different ways to control distance to be covered by a robot?

I want to move a robot to a certain distance say 1 meter. What are the different ways that i can implement to do so? For example I can measure the circumference of the wheel and assign time of ...
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0 votes
0 answers
360 views

Defining a trajectory for a quadrotor

I' m looking for a trajectory generator (the algorithm doesn't matter, since I m going to write it using C++ ) that generates a trajectory (a parametric curve in space) defined point by point which is ...
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1 vote
3 answers
768 views

is it possible to track movement on a tennis court?

I'd like to track my run in an indoor tennis court. GPS won't be available so I was thinking researching for other solutions: Accelerometer: I concluded it's a no go because while playing tennis the ...
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2 votes
1 answer
69 views

Is this gear design feasible?

I came up with an idea and am working with a mechanical engineer to design and prototype the idea but I keep sketching out my own ideas in the process and I just came up with this.. I'm quite sure ...
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2 votes
1 answer
193 views

Robot start-up movement problems

I have created robot using a robot chassis kit from hobbyking. At first when testing the robot connected to USB power source and the wheels lifted above the ground everything seemed to be OK. Then, ...
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0 votes
1 answer
55 views

How are Interference Avoidance and Collision Avoidance different?

Someone told me when explaining about a controller module named CollisionDetector that it only checks self-interference and ...
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2 votes
3 answers
1k views

Compensating for Yaw in Lateral Quadcopter Movement

I'm trying to make a quadcopter move laterally at a certain angle. I've been able to find the proper roll and pitch angles for this (that work with a yaw of 0°); how would I adjust these values to ...
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9 votes
2 answers
4k views

How to calculate the right and left speed for a tank-like rover?

I am trying to control the Rover 5 robot using an Android app with a touch-based joystick control in the app UI. I want to calculate the speed of the left and right motors in the rover when joystick ...
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6 votes
1 answer
672 views

Roller Screw drive - axial movement instead of friction

I need an equation or a some hints to solve the following problem. Imagine a roller screw drive. I apply a torque of T to translative move my load mass ...
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1 vote
2 answers
4k views

How to control the position of a pneumatic piston?

How can I control the position of a pneumatic piston? The only way I know about is using a magnetic reed switch (magnetic sensor) with a matching piston and use some type of control algorithm, like ...
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15 votes
6 answers
49k views

How to convert vertical motion to horizontal?

I am interested in using this miniature motor Squiggle Micro Motor to create very tiny horizontal movements. However, due to very limited space, I can only place it vertically within my project. ...
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8 votes
1 answer
507 views

What are the mechanics of translational drift?

Concerning robots which rotate at high speed by spinning the drive motors in opposite directions, while still being able to simultaneously move in a direction (translate): As far as I know this ...
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  • 249
0 votes
1 answer
658 views

What is the wire used for hand movement of robot called ? where can I find it online ?

I am looking for a specific name of the wire used for the robotic arm movement control and where can I find some of this online. I want to control it using the micro controller so please suggest some ...
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4 votes
4 answers
270 views

Robots minimum distance

I am trying to implement a mechanism to make robots avoid being too close (Say in a distance less than d). I am not familiar with those systems and I have to ...
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16 votes
3 answers
11k views

Calculating the efficiency of Mecanum wheels

I'm part of a FIRST Robotics team, and we're looking into using Mecanum wheels for our robot. What are the advantages and disadvantages of using Mecanum wheel versus regular ones? From looking ...
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