9 votes
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What is the difference between Multiple robots and swarm robots?

These concepts are similar in the sense that they require multiple robots that communicate/cooperate. Apart from that, their application, and thus their design and implementation differ. Swarm Robots ...
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  • 3,210
5 votes

What's the diffrence between $H_2$ and $H_\infty$ control?

In short answer: yes Kalman filter is a special case of an $H_2$ observer Yes Yes ... LQG is just Kalman filter + LQR controller, which are both special cases of $H_2$ Depends on the use case. $H_2$ ...
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  • 2,679
5 votes
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Meaning of a negative step response with quaternion

Welcome to Robotics, PaoloH! This is a fantastic question for Robotics - It has some Matlab/Simulink, some control theory, some spatial (quaternion) representations, etc. Robotics is the place to come ...
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5 votes
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What is a Velocity Smoother?

The velocity smoother part of the code is this: ...
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4 votes

What is the best software/package to draw the robot manipulator and indicate DH parameters and different axes?

Use RoboAnalyzer. It will help you understand what you need.
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  • 91
4 votes

Dynamic torque simulation for a 6 DOF robotic arm

The dynamics of robotic arms are fairly complex, especially when there are more than three joints to consider. The problem is that the movement of each joint moves all the links beyond it, which can ...
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4 votes
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Suggestion for relevant non-complex simulator

just use matlab or and python with a set of fixed features in space represented as points. Don't do any vision processing. At this point any vision processing would be overkill. you are making this ...
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  • 1,825
4 votes

"modern contact dynamics" - Why are spring-damper contact models not being used anymore for dynamic simulations in robotics?

The author appears to be writting in a self promotional style, where the details listed about other work are simplified or ignored so that their claim, that their approach is better, can be ...
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  • 4,235
4 votes

AWS Robomaker - success story?

I'm a product manager from the AWS RoboMaker team. We have a tutorial that can help you get started with the service: Projects on AWS: How to Train a Robot Using Reinforcement Learning with AWS ...
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  • 41
4 votes

Solving pseudo inverse of Jacobian in Matlab/Octave

After running your code, it looks like everything is behaving how you have defined it to. The problem you are running into has more to do with the Jacobian itself and less to do with any mistakes you ...
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3 votes
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Are there any aerodynamics modeling/simulation software that is capable to consume a SolidWorks model and to interface with MATLAB/Simulink?

Matlab has a package called Simscape that you can use for modeling physical systems in general. I would just caution you up front that Simscape is almost more like a plugin manager in that it enables ...
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3 votes
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MATLAB 3D Simulation with SOLIDWORKS model

I use CAD software to generate 3D models, convert those 3D models to an STL format, then load those STL files to Matlab with the following script: ...
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3 votes
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how to plot $\pm 3 \sigma$ of a landmark in EKF-SLAM

What you are referring to is plotting the estimate with the uncertainty bounds - in particular the $3\sigma$ ($\pm3$ standard deviations) bounds which corresponds to 99.7% probability that the true ...
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  • 872
3 votes
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Simulate IMU (2D gyro and accelerometer) data

This is really simple. First of all, you need to understand how the sensor works. In other words, you need understand whether the measurements is coming from linear or nonlinear model. Second, what is ...
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  • 2,347
3 votes

Dynamic torque simulation for a 6 DOF robotic arm

I think you may be going about this problem wrong. If you find a simulator that reports joint torques, then what? Are you going to iterate through every possible start and end location? You should ...
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3 votes
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Multiple robots in ROS Gazebo SITL with separate MAVlink/MAVproxy codes

I feel like I'm having to do a lot of work to understand this question. You are trying to simulate two vehicles, and... what's the issue? You are trying to simulate them in Gazebo, right? Have you ...
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3 votes
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Is Robust Control and robotics well applied together?

Robust control is used for when you know that parameters are going to fall within particular bounds. For example, for a mass-produced robot arm, the arm masses fall between X and Y, the moments of ...
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3 votes
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Roy Featherstone toolbox robot model

I changed the code and now it works properly. ...
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3 votes

What Software Is Used For Autonomy Software Simulation?

There are quite a lot options for this, each with different features, strengths and weaknesses. A few examples: Gazebo (as mentioned by edwinem): very well known in the robotics community, some would ...
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3 votes

Data collected from ROS

As Ben noticed, you may want to elaborate on your question, but in general data collection in ROS is performed using tools from the rosbag package. As you'll find when you read the documentation, ...
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3 votes
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My Pick and Place Program Not Working

The best way to debug geometry related applications is by using plots. First of all, plot the initial configuration, with robot TCP, cube initial position, cube final position. As these are all input ...
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  • 6,437
3 votes
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I'm looking for a simplified control scheme for a game-rendered robotic arm

If I understand correctly you are not looking for a control scheme, you are tryin to solve the (inverse) kinematics problem. In robotics, kinematics is preoccupied with motions, disregarding forces. ...
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3 votes
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How to program to generate robot URDF(Serial manipulator) when having stl file of each link with Python

Thank you,Now I have found odio_urdf library that can generate urdf by programming in python like you code in urdf file.
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2 votes
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Implementation of wall and obstacle avoidance

There's a lot of questions here, so I expect pushback from the peanut gallery, but I'll answer what I can. First off, a wall is an obstacle, right? There's no difference there other than what words ...
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2 votes

how to plot $\pm 3 \sigma$ of a landmark in EKF-SLAM

Unless I misunderstood what you're trying to show on this plot, you want to essentially plot your estimate (or, in this case, the estimation error) with its 3 standard deviation bounds. What you have ...
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  • 21
2 votes

Ackerman steering model

I am not sure if this is what you are looking for but the simplest odometry equations for ackermann steering go as follows: ...
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2 votes

Dynamic simulation of compliant elements in quadruped robot

Matlab Simulink has a blockset called Simmechanics. It is very well suited for robotic simulation (it is ment for multibody mechanics simulations). It is a bit tricky to set it up for mobile robots (...
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2 votes

What is the difference between Multiple robots and swarm robots?

In addition to @Shahbaz According to this book Multiple Mobile Robot Systems is main topic and swarm robotics is a sub topic both of them motivated from the task complexity is too high for a ...
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  • 1,104
2 votes

simulation of robots

For visualization and kinematics, Gazebo works fine. You can use C++ or Python to work with it. There is lots of integration with ROS as well if you like that sort of thing. If you want a clean and ...
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2 votes

Kuka KR16L-2 robot simulation base and wrist rotation inconsistent with original robot

Kuka robots have the axis positive and negative side clearly marked on them. Use these to define the orientations of the Z-axes assigned to the joints. With other words, try to reverse engineer the DH ...
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