Albert H M
  • Member for 2 years, 9 months
  • Last seen more than a week ago
Motion planning algorithms with applications beyond robotics in animation
1 votes

One example I see is animating human character on video game. On Unity game engine demo, they show there is human character that stand on big rock. The rock roll left and right while character ...

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Forward/inverse kinematics and transformation matrices
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3 votes

For each joint relation you model, you would get one homogeneous transformation matrix (HTM) T $$T^{i-1}_i$$ If you multiply all HTM from base to end-effector, you would get what is called forward ...

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Number of pixels required to identify something
2 votes

There is no really precise answer on your question. There are a lot of parameter would affect number of required pixel, what kind of detection method you use, how do you preprocess the image, noise of ...

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Orientation Problem of a 4-DOF manipulator
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1. What you ask Ok you already know jacobian is need to map end-effector cartesian velocity into joint angular velocity. $$\dot\theta=J^{-1}\dot x$$ And I assume, you know how to control the position. ...

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Pose difference estimation in cartesian impedance control
2 votes

Weird motion I'm pretty sure it happen because you make wrong implementation on orientation control. Orientation of end-effector There are 4 main representation of end-effector orientation which is ...

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Making a human set path following robot
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KY-033 it is not somekind of sensor that able to detect human and perceive the depth of enviroment. It just a normal line detecting sensor work based on reflection of infrared. You need to look about ...

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Why is a joint space trajectory unable to deal with operational space obstacles?
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2 votes

The main difference between task space control and joint space control are : Joint space : You know start and last position of joint configuration from IK(Inverse kinematic), and interpolate it Task ...

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Which part handles the acceleration of stepper motors?
1 votes

On my experience working with stepper motor and CNC shield V3 with DRV8255 motor driver, acceleration and decelaration happen on software side. So I have simple trajectory planner and PD controller ...

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Best way to control a robot from an application
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1 votes

If you wanna develop application to control industrial arm robot, there are several thing you need to look up : 1. Accuracy and precision If you create your own controller, would your program at least ...

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How can I input joint angles to transformation matrix to get position in matlab?
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0 votes

After looking the documentation, in function gettransform you put your joint angle configuration there in radians. Create the struct containing your join value s = struct(nameofjoint1, valueofjoint1,....

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Best way to power Raspberry Pi 4 8GB + Arduino Uno Robot?
1 votes

For arduino and raspberry, powerbank is enough to power them for several hours. But the only problem i ever face when using powerbank is they sometime auto turn off because how little arduino current ...

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Servos jittering problem
1 votes

I have working with multiple servo for serial manipulator control. I recommend this following step to troubleshoot : Make sure u gave it the right voltage Read the datasheet and make sure your power ...

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Recommended building materials for building a robot WITHOUT 3D printer?
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2 votes

With consideration cheap, strong enough, not ugly and easy to shape, then my recommendation is you can use clipboard. I have seen people win international robotic competition with robot made using ...

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homogenous transformation matrix variants
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0 votes

On serial manipulator modelling, we commonly use Denavit-Hartenberg system. One important thing you need to know, there are 2 variant of it, that is Denavit-Hartenberg system and Modified Denavit-...

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Getting started with robotics
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To start learning robotic, the first thing you need to learn is the robotic and control it self. About programming language, you actually can use C, C++ and Python (three most common language in ...

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6DOF Kinematics moveo
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Well, i would address one of your problem : Weird result One thing you need to understand while working with serial manipulator control inverse kinematic is concept of multi solution. With ...

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Trajectory generation equation from jacobian and inverse kinematics
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2 votes

As suggested by ben, i will put my comment as answer. 1st How to control robot I recommend you to look about resolved motion rate control. It's a complete algorithm to control a robot from path ...

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How to derive the inverse kinematic equations for this simple 6-DOF robot?
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The first step is to create the model of the robot. I recommend you to model the robot using modified denavit hartenberg (There are plenty of book and youtube provide the information you need). Then ...

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Is two cameras equivalent to Stereo camera setup?
1 votes

Yes you can use two camera the same as using single stereo camera for depth perception. Step on calibration camera for two camera and stereo camera is same.

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where can I find a good source to study robotics kinematics and trajectory planning relative to robotic arm manipulator?
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3 votes

Here is my main source, take a look at this book : Craig, John. J. (2005). Introduction to Robotic : Mechanics and Control. Pearson Education Inc. Corke, Peter P. (2017). Robotics, Vision and Control....

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Using DH parameters to visualize a robot
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2 votes

Yes you can visualive it in matlab, using robot toolbox for Matlab here. Visualization would look like this And code example for MDH table for my 6 DOF Serial manipulator : a = 40/1000; b = 81/1000;...

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I2C Arduino Connection
1 votes

The code you provide is only to give you example on how 2 arduino communicate using I2C protocol. You will need to modify it so it can fully work as intended. You can modify it so Arduino Mega can ...

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Resolved Motion Rate Control, Rotational Part
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0 votes

After a long-long research, i finally able to control the rotational part. First of all, if you wanna control the orientation part you need to determine what kind of representation of orientation you ...

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Is This A Colour Sensor?
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I believe this is just IR sensor. This sensor wont able to differentiate color between red, green,blue etc. But you can use this sensor to differentiate black line and white floor (in case u wanna ...

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Inverse Jacobian to find joint angles
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2 votes

If u wanna find the joint angle here what can i explain, using task space. If u really wanna using joint space i will explain later. What u asked for is Resolved Motion Rate Control, here is the step ...

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UR5 Visual servoing(image based, eye in hand)
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im facing the same problem as yours. And im sorry if put this in the answer section(because i cant comment yet). I have try so many equation of orientation trying to fit which one able to work with ...

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