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3

The IMU itself cannot distinguish between "true" linear acceleration and "fictitious" (Coriolis) linear acceleration induced by rotation of the IMU coordinate frame with respect to an inertial frame. You must make that distinction in your choice of models. Your estimator will represent your robot's acceleration in some way in its state, ...


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The answer is $\vec{G}$! and also any $\vec{\tau}$ torque caused by it, if the axis connecting the geometrical center of the sensor (assuming it measures torques relative to its geometrical center) to the centre of gravity of the gripper. $\vec{G} = m * \vec{g}$ where $m$ is the mass of the gripper, $g$ is the gravitational ACCELERATION, not force and G is ...


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As-is, the question is off-topic, but if I rephrase it as "Is it possible to use multiple IR sensors near each other?" then the answer is no. IR sensors are the mix of genius and dumb that I love - it does rangefinding by shining a light and measuring the reflection. That's it. You typically wind up needing to calibrate to particular objects, ...


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The problem you are describing is quite similar to line following from a controls perspective, there is a difference in how the line is detected. Line following robots use a wide variety of ways to detect line. Simplest is probably photo-resistors or phototransistors, however magnetic stripes (lines) and hall effect sensors have been quite popular in the ...


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I can't use any line-following method. Actually, you are quite wrong, the way I understand the problem. It is a line-following. It is just that the line is not painted (like on the road). The line is the edge of the table. The way I see it, your robot needs to look up, and detect the line "painted" by the edge of the table on the ceiling. Once the ...


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Usually, most underwater robots are running on just inertial navigation and surfacing occasionally. This tends to work better than one would expect and is what most large scale deployments end up using. Additionally, most of these use a Doppler Velocity Log, Pressure Sensor, and Compass in addition to their IMU. Geophysical localization is fairly precise, ...


2

Can I use current sensing to measure the torque on a wormgear drive? Nope as the worm-gear is not back-driveable by construction. what would be the best path forward? Using an FT sensor mounted at the end-effector would be the best solution but they are expensive. Replacing the worm-gear with a BLDC motor being careful about the gear ratio. In fact, a ...


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It looks like a leaf switch. A search on AliExpress for "leaf switch" and sort by price gave me this


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I think you're swapping the bytes in your multi-byte messages. Considering just the battery charge and capacity, you said: Here one as UINT8s: 19, 38, 21, 0, 25, 9, 253, 26, 10, 137, 28, 10, 46, 29, 10, 77, 30, 10, 86, 31, 10, 83, 46, 0, 31, 47, 0, 65, 48, 0, 59, 49, 0, 22, 50, 0, 24, 51, 0, 6, 50 I get a battery capacity of 35082 while battery charge is ...


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Most quadcopters position the flight controller/sensors at the center with the battery slightly above or below but still on the center. If you are planning on building a race quad that will not use auto level, then you can place your gyro anywhere as the roll rate will be measured the same (just ensure that you set the orientation parameter properly in its ...


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Your ability to calibrate a load cell is going to depend on the orientation of the strain gauges inside the load cell, which is determined by however the manufacturer chooses to apply or embed them. There are all kinds of "tricks" you can do with strain gauges, like being able to remove the effects of bending moments, thermal compensation, etc., ...


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Measuring motor temperature and either forcing a stop or limiting performance when it gets too hot is common practice. I have always used a simple thermistor. You should make it have intimate contact with the motor's metal either by using thermal paste or epoxy. Sometimes, you can put it in a small hole drilled in the motor mount. The danger with ...


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As you're probably aware, the sensor solution you're looking for is pretty much a research subject in itself. There have been experiments using infrared time-of-flight cameras in murky water, and there are a few devices commercially available, but they're most certainly expensive and will require some engineering work to be adapted for a robotics application....


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You can find a wide selection of pattern projectors here, some of them have eye-safety features, other are better than AMS projectors in the sense that the pattern is much more random.


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The projectors you are looking for are available with https://ams.com/3d-imaging


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