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I am working on estimating a robots pose using Odometry and GPS.
My first problem is that all kinematic model i have seen for a differential drive robot proposes using the displacement of the left and right wheels to evaluate the robots next pose. However, in my situation the robot i have only spits out current X and Y... |
I'm a bit at my wits' end here - I'm trying to build a tilt compensated compass for my autonomous sailboat (ardusailor!). I'm using an InvenSense MPU9150. Originally, I used the built-in fusion support on the sensor to get a quaternion, pull the yaw/pitch/roll angles from that, and then use this formula to do the tilt ... |
I'm facing a real weird problem with EKF Localization. The filer gives me wrong error every time the robot is in parallel with a landmark. I've debugged the code many times but failed to solve the problem however I found out where is exactly the problem occurs. The following picture shows the scenario. The robot moves ... |
Firstly I'm unsure whether this question belongs here or on another SE site (but I'll wing it for now).
I've recently been given the job of connecting up a 'smart camera' to a setup where a robotic arm will pick and place objects from point A to point B. The real application for the camera is to check if the objects ar... |
I am very new two robotics, however I have a working stereo algorithm which I want to combine with a SLAM algorithm. I am developing this system for an other application but I decided integrating it on a robot first and testing it might be a good way to get used to the system and test its behaviour in a realistic envir... |
I am using the L298N motor driver to drive two HAD1 linear actuators (12V each and a no-load drive current of ~950mA each)
Linear Actuator: http://www.alibaba.com/showroom/mini-linear-actuator-had1.html
Motor Driver: is a L298N dual-h-bridge motor-driver controller board-module for arduino robot
I am also using a curre... |
Is it possible to build a quadcopter which can detect obstacles and thereby avoiding them in order to reach its destination?
If so,how could it avoid the obstacles and how can the destination be set
|
I always wanted to have a CNC to make PCB quickly at home.
Finally, I got a 7x7 kit from zentools recently and put it together. I attached a battery powered screw driver to 2nd shaft of the stepper and moved the each axis all the way back and forward before wiring. All 3 axis moves smoothly, I can turn the steppers ev... |
While looking at Mecanum wheels, I noticed that there are two different designs that are popular.
One type holds the rollers in between the wheels frame, and the other holds the rollers from the center.
Is there a significant advantage to using one over the other?
|
I am looking for a cheapest possible GPS setup with a centimeter precision without much HW hacking. I am not able to produce my PCB or do any soldering (though I would do that if there is no other way) so a kind of a easy-to-assemble setup would be welcome. I know about the $900 Piksi thing but that is still too expens... |
Is integration over not constant dt (∆time) a possible thing? Let's say you have a PID loop with differentiating frequency, can the integral part of it still work? (Assuming you know the dt from the last iteration)
Could I just use a variable dt (∆time) in my calculation and the PID principle would still function corre... |
I want to build a small cylindrical arm, with a main 360º angular servo on the longitudinal axis, and a secondary angular servo with variable speed in a trasversal axis that rotates with the main angular one. The secondary needs to receive data and power from a slip ring across the main servo, since it must be able to ... |
I'm trying to build a robot with a differential drive powered by two DC Motors. First I implemented a PID Controller to control the velocity of each motor independently. Estimated the TF using the MATLAB's System Identification Toolbox, of the open loop system by the acquiring the velocity of each wheels encoder in fun... |
I am currently working on an exoskeleton. The exoskeleton is going to help kids with cerebral palsy learn to walk 4 years sooner than traditional therapy. Currently we are using 2 Ame 226-3003 with the roboclaw 2x60A motor controller controlled by an Arduino mega. The Ame 226-3003 motors are not powerful enough. In... |
When installing a servo or other actuator, I measure the force needed to perform whatever action is needed and find an actuator that can generate more than the necessary force. However, I recently wondered if there's a rule of thumb or guideline for how much overhead is useful, before it becomes a waste.
For a (perhaps... |
I want to build a closet with ejectable drawers. On the top should be 4 buttons, each eject opening one of the four drawers of the closet.
I am looking for ideas on how to accomplish this. What kind of springs, slider mechanisms perhaps, and other materials to use?
Any examples?
|
For my robotic projects I need some aluminium parts. Currently I am looking for a way to build a chassis including simple gear box. So I need relatively high precision. Which options do I have to machine aluminium without investing in expensive tools?
This is what I could think of so far.
Design parts in CAD and send ... |
I want to create a robot that will navigate on a desired path!
That path can be a straight line or a circular path with a given radius.
I will use 3 or 4 omni wheel drive platform and for positioning,
I am using this research paper which perform dead-reckoning using mouse sensors.
Dead-Reckoning using Mouse Sensors
I'v... |
the matlab code is used to detect red colored object, but i want to control a bot to move towards the detected object. just need a simple algorithm or idea, controlling the servo i will be able to do it.
%get snapshot
data = imread('image.jpg');
% Now to track red objects in real time
% we have to subtract the red... |
I am able to locate centroids of each blocks, but i am unable to join two blocks with a line segment by avoiding the obstacle as shown in the figure. Please need help how do i achieve this using matlab.
|
There seems to be consensus here that the BeagleBone Black has 1ms+ latency while toggling gpio pins due to the fact that gpio is handled outside of the cpu. Are the uart/i2c/spi lines equaly slow, or are they significantly faster?
I've seen references to people talking to the gpio more directly. Could this decrease ua... |
I'm looking for some direction on how to create a device that does the following:
Imagine you have a yoga mat, I want a device that can roll it up and unroll it without a human intervening in the rolling process.
I reliable this is a robotics forums but there doesn't appear to be a section for mechanical engineering so... |
Need help to choose desk top, low cost, DIY/High school grade laser cutter for making base plate for DIY robots, about maximum A4 paper size, as this photo. Idea, comment, advises, even if only partially cover some and not all questions, are welcome.
What power is needed to cut Acrylic 3 to 5mm thick. Many sellers a... |
I am currently trying to parametrize the low-level gains of a robotic arm. This arm uses a classical PID for each joint.
I am trying to use a method based on computation rather than a trial-and-error/tweaking approach. The method I use considers each joint independently and assumes the system driven by the PID is linea... |
I have decided to pursue a career in automation and robotic. At the moment, I am being torn between Mechanical and Electrical Engineering. I know that both of them relate to my choices of career, and at the moment, I think that I like them equally. I hope you guys can help me solve my dilemma by using your insights/exp... |
I'm going through the textbook Robot Modeling and Control, learning about the DH convention and working through some examples.
I have an issue with the following example. Given below is an image of the problem, and the link parameter table which I tried filling out myself. I got the same answers, except I believe ther... |
I've seen in a lot of places some methods of tuning a PID controller. Most of them will say that one should apply a step input to the system and based on that response you can tune the PID parameters following some rule of thumb. But what about a system which one of its pole is at origin? In other words, a step respons... |
I've been working on my two-wheeled mobile robot I've been trying to perfect my obstacle avoidance algorithm which is Artificial Potential Field method . Also i use Arduino Uno kit . The basic concept of the potential field approach is to compute a artificial potential field in which the robot is attracted to the targe... |
I've been going through Syskit tutorials at rock-robotics.org. In the tutorials e.g. First composition, there are two different components declared with:
add Controldev::JoystickTask, :as => "cmd"
add RockTutorial::RockTutorialControl, :as => "rock"
I was wondering how could I add an additional RockTutorialControl i... |
I am willing to use a universal robot arm (UR10) in a path following mode. i.e. I have a desired trajectory for the robot's effector and I would like the effector to follow it as close as possible.
The specs here give a repeatability of +-0.1mm. This is not written but I guess this is the static precision (after the ro... |
I am trying to control the servo motor operation by torque control by interfacing the sensor to an avr , which will continuously monitor the torque value from the sensor and control the torque according to the given set point .Is it possible to make such a setup? If yes how?
Thanks.
|
I need to pop out a needle like object(toothpick,matchstick,etc) from a hole in a
surface and push it back in automatically.I need to make a array of such needles in which each needle's position can be controlled individually.The objects aren't supposed to be oscillated continuously, instead they are to be locked in on... |
I am designing a robot in real world and i want to plot everything in X,Y (Cartesian) coordinates
I just want to use the encoders of wheels to determine the current position of mobile robot and its orientation depending on a specific calculation formula (like this http://rossum.sourceforge.net/papers/DiffSteer/ ) even... |
I wonder if this would be a competitive robot compared with one made with a traditional approach using a microcontroller and infrared sensors. I suppose that raspberry can perform an edge detection to tell the dynamic of the line far away, much more that the infrared sensor, but how fast can the raspberry do this proce... |
So far I have done EKF Localization (known and unknown correspondences) and EKF SLAM for only known correspondences that are stated in Probabilistic Robotics. Now I moved to EKF SLAM with unknown correspondences. In the algorithm in page 322,
16. $\Psi_{k} = H^{k} \bar{\Sigma}[H^{k}]^{T} + Q$
17. $\pi_{k} = (... |
Regarding my project work, I have to write an algorithm for mobile robot planning. For that, I have chosen Genetic algorithm. Is it good for mobile robot path planning? If it is, then where can I start from and get some guidelines?
|
I am trying to make a line follower robot and I need help regarding the type of dc motor to use.
So we have a single shaft BO Motor and a double shaft BO Motor. Can anyone help me understand what is the difference between the two?
Here's the link for
Single Shaft BO Motor:
http://www.evelta.com/industrial-control/moto... |
Simply, I had Rover 5 with 2 DC motors and 2 quadrature encoders, I just want to use encoders to measure the distance of travelling for each wheel.
To start with, I just want to determine the total counts per revolution. I read the article about quadratic encoder from this broken link.
In Rover 5, each encoder has four... |
I am migrating from a differential drive design to a skid steering design for my robot, and I want to know how easy would it be to use the NavStack with skid steering. Would there be any problems in terms of localization and things like that?
If I let two wheels on the same side of my robot (two on left side and two on... |
I'm trying to understand the core differences between the two topics. Is one simply a newer term? Connotations of automobile vs automation? Something with a screen vs without?
I've only ever heard the term computer vision (tagged).
|
Need to buy a DIY/High School grade laser cutter/engraver
How much laser power is needed for wood, acrylic (3 to 6mm thick), cutting and decorative engraving?
What parameters I need to take care in selecting suitable machines?
|
While I am reading and collecting information about rotary encoders , I faced some troubles about the meaning of some expressions concerned with encoder ,which make me to be confused and stray, these expressions or words are :
-Count per revolution (rotation)
-Pulse per revolution
-Tick per revolution
-Transitions pe... |
I recently spent some work on my quadcopter firmware.
The model is stabilizing its attitude relatively well now.
However I noticed, that it is changing its altitude sometimes (maybe pressure changes, wind or turbulence).
Now I want to get rid of these altitude drops and found not much literature.
My approach is using t... |
I have started in the programming stage of my project , and my first step is to made and test the odometry of my Rover 5 robot on Arduino Uno by using encoders to determine position and orientation .
I wrote this code and I don’t know if that code right or there are some mistakes, because I am novice to Arduino and Ro... |
I want to power my Arduino Uno and I know I can do that either by connecting it with USB to PC or with DC power supply.But I want to connect it with a battery source(kindly see the image below) and I know its a silly question but how do I do it? The battery connector is not the regular DC jack but the one that's found ... |
I'm new to robotics. I would like to know if 56 output lines can be taken from an arduino or raspberry pi?
|
Does anyone know of a robotics developer environment ideal for testing AI programs for drones (e.g. quadrocopters, planes, helicopters, etc.)? I would like something like Microsoft Robotics Developer Studio that includes a virtual environment (such as an outdoor environment with gravity, wind, etc.) to test out flight ... |
Sebastian Thrun says in his paper on Particle Filters that - no model however detailed fails to represent the complexity of even the simplest of robotic environment. What does he means by this? Can someone please elaborate?
|
I'm looking for a research paper or series of papers that compare the performance of various simultaneous localization and mapping algorithms for rovers in a variety of real world environments. In particular, i'm looking for computational speed, accuracy (compared to the real world environment) and memory & power effi... |
I'm working on a quadcopter. I'm reading the accelerometer and gyro data out from the MPU6050 and using complementary filter to calculate the roll and pitch values. When the quad is on the floor, and the motors are turned on the roll values are:
-4.88675227698
-5.07656137566
7.57363774442
-3.53006785613
4.4483396126... |
What free of charge Robot Magazine, Journal, Newsletter or similar publication are available?
Either geared toward technical professionals or the general public.
|
The aim is to guide a bot from Source S to Goal G while passing through all the checkpoints @ (in any order).
########
#@....G#
##.##@##
#..@..S#
#@.....#
########
One way to solve it would be to select one checkpoint as goal from current state and then guide the bot to it. Then select the next checkpoint as goal an... |
I am currently studying the FREAK descriptor and I read the article published by its designers. It states that the aim was to mimic the retinal topology, and one of the advantages that could be gained is the fact that retinal receptive fields overlap, which increases the performance.
I thought about it a lot, and the ... |
I'm usig RPI and Servoblaster to control servos. I've set the --step-size to 2 us, but I'd like to decrease it to 1us. I've tried to set the step-size to 1us, but the Servoblaster displays: Invalid step-size specified.
I've also tried to set the pulse width in micoseconds like echo 1=1140us > /dev/servolaster. It work... |
I have known map of the environment (2d occupancy grid map). I am trying to find if anything changed in environment using 2d laser while navigating by using maximum likelihood of laser with known map.
My question is how to know which measurements are corresponding to changes. My environment is not static and has some ... |
I have a robotic simulator that enables a 6 wheel rover to perform spot turn.
To prepare the rover to spot turn, I have to arrange/align the wheels in such a fashion:
<front side>
// \\
|| ||
\\ //
<rear side>
What is the technical name of it? Circular wheel arrangement? Circular alignment?
|
I've seen several examples of SLAM algorithms (EKF SLAM, Graph SLAM, SEIF SLAM) written in terms of the velocity motion model. I have yet to see an example of any SLAM algorithm utilizing the odometry motion model. I wonder if there is an inherent advantage to using the velocity motion model over the odometry model f... |
I'm trying to understand the role of landmarks in SLAM algorithms. I've glanced over a few books concerning landmark based SLAM algorithms and I've come up with a rudimentary understanding which I believe is flawed.
How I think SLAM works:
As I understand it, landmarks are a set of points in a map whose locations are ... |
How are several channels multiplexed down to a single physical wire? If two channels are transmitting the same value in the same frame, wont there be an overlap of the pulses?
|
I'm a newbie in RC field..I am planning to construct my first Tricopter ever. Can anyone help me to find the power rating to select the motor for a tricopter?
I am at the beginning stage of construction. Arm length of frame: 50cm each. I need a thrust of about 2Kg -- nearly 666 gms for each motor.
|
I have a big miss conception between Yaw and attitude ?
Isn't both represent "how far is the quad from earth ?"
Also if you could post how to calculate them from IMU (gyro +accele + magent )
|
it's been while since I started reading about INS, orientation and so for quadrotors .
I faced the following terms : AHRS - Attitude - Yaw,Pitch and Roll - MARG sensors
I know for example how to calculate Yaw,Pitch and Roll , but does it related to Attitude ?
What's Attitude any way and how it get calculated ?
AHRS ... |
I read somewhere that in the case of photoshop for example, the size refers to the number of pixels an image contains, but resolution involves the pixel's size, I don't know whether this definition goes for all the other fields. In computer vision, what's the difference between image size and image resolution?
|
I am new to Embedded, starting with AVR programming using C. I am working on Mac OS 10.9.4, so far I am using avrdude and xCode as IDE. It works very well, for now I am testing my code using Proteus.
But now I want to burn my .hex to AVR ATMega16 board. I have USBasp, which I am able to connect and it lights up the boa... |
I am trying to build a servo-controlled water valve. Max pressure 150 psi , valve size 1/2".
Can anyone recommend a suitable 1/4-turn valve, either ceramic, ball valve, or anything else that is easy to turn, even under pressure? It must require very little torque to turn, so a standard servo can rotate it with a small... |
I have just built my first quadcopter, and have run into a bit of a snag. When I plug in the power, I only get one beep and a red blink from the flight control board, and nothing else happens. When I turn on the controller, however, a red light turns on on the reciever. Otherwise, nothing else happens. From what I can ... |
How to calculate attitude from IMU ?
For example, mathematical equations
|
I am trying to create a simulation of a robot with Ackerman steering (the same as a car). For now I'm assuming that it's actually a 3-wheeled robot, with two wheels at the back, and one steering wheel at the front:
Knowing the wheel velocity, and the steering angle a, I need to be able to update the robot's current po... |
Im trying to develop a system that autonomously navigates a large outside space, where accuracy is vital (GPS is too inaccurate). There are a number of options but have largely been used inside, has anyone tried these or used anything else?
WiFi triangulation,
Dead reckoning,
RFID landmarks
|
I'm currency a Web programmer and I'm very passionate by robotics and specialty for Artificial Intelligence.
I have already make some C++ program for Microship and Arduino for little robots and other Lisp codes (example for labyrinth path search) but I think it's not really applicable for projects further.
I have rea... |
Simply , how can I calibrate IMU unit ?
I read some papers about this topic and was wondering if there are any standard methods.
|
I am having some trouble understanding how to practically use the speed-torque curve of a DC motor.
I understand that the gradient of the speed-torque curve is defined by the design of the motor, the exact position of the curve depending on the voltage applied. So if the voltage is changed the speed-torque curve is als... |
I have a 7 DOF arm that I am controlling with joint velocities computed from the Jacobian in the standard way. For example:
$$
{\Large J} = \begin{bmatrix} J_P \\J_O
\end{bmatrix}
$$
$$
J^{\dagger} = J^T(JJ^T)^{-1}
$$
$$
\dot{q}_{trans} = J^{\dagger}_P v_{e_{trans}}
$$
$$
\dot{q}_{rot} = J^{\dagger}_O v_{e_{rot}}
$$
$... |
We are working on a project where we want to sound an alarm if somebody is messing around with our Robot (e.g., the Robot is being shaken abruptly or the cameras/LIDARs are blocked).
I am using "loud speakers" (4.1 x 3 inch 10 Watts 8 ohm speakers), but they are not loud enough.
Are there any small speakers or alarm sy... |
I am bulding a quadcopter using these compenents:
Microcontroller: Tiva C Lanchpad (ARM Cortex M4 - 80 MHz), but
running at 40MHz in my code
MPU 9150 - Sensorhub TI
ESC - Hobbywing Skywalker 40A
I use the sample project comp_dcm from Tivaware and use that angles for my PID which running at 100Hz
I test PID Control on... |
What are the parameters which should be selected to choose camera for lane detection system.What parameters should be kept in mind (like picture quality,frame rate,cost e.t.c). Which camera will suit best to my application.
|
Using the Adafruit 9DoF module I Need to convert the Accel + Magneto + Gyro into Euler Angles for a motion capture application. Any hints on where to start?
Managed to get X,Y,Z when the IMU is facing upward but when that orientation changes the axes dont behave normally that is because i am not using Euler angles. So ... |
I am trying to implement a particle filter for a robot in Java. This robot is having a range sensor. The world has 6 obstacles - 3 in the top and 3 in bottom. I am calculating the distance of the robot from each obstacle's center and then performing the same activity for each particle. Then, i calculate the difference ... |
i saw this maze, and tried to apply pledge algorithm on it. But i am not able to solve this maze using this algorithm. what am i missing?
i want to ask, what i am doing wrong?
PLEDGE ALGORITHM:
in both cases we don't get to exit.
you can read about these algorithms at:
http://en.wikipedia.org/wiki/Maze_solving_algorit... |
What are the most basic skills and components needed for creating a robot which gets two "yes" or "no" inputs with two push buttons, and goes down the defined flowchart and plays the relevant audio file each time it gets an input.
a flowchart like this:
____question 1_____________
| |
Yes ... |
I am trying to build low cost and precise outdoor positioning. I explored NS-RAW with RTKLIB - this would be doable but probably will need either a base station to get the correction data for rover or external correction data which may be a hassle. The action radius with own base station is quite limited too. This solu... |
I know that there is an extended kalman filter approach to simultaneous localization and mapping. I'm curious if there is a SLAM algorithm that exploits the ensemble kalman filter. A citation would be great, if at all possible.
|
I am tuning PID for quadcopter, the problem i have is that with different base Throttle, i seems that i have to adjust different PID gains in order for the quadcopter to balance!
|
I am planning to buy an ESC for my tricopter setup. What is the purpose of programming an ESC? I am cost effective and is it really necessary that I should necessarily buy a programming card to program my ESC for my model?
|
I am looking for a 12V Dual Motor Controller that can supply at least 5A per channel for two 12V motors, and that can be used with an arduino. Do you know of any product with those specs?
Thanks
|
I'm building a control system with a Parrot AR 2.0 drone where I have access to thrust controls for up/down (z), left/right (y), forward/backwards (x), turn left and turn right (yaw) through a Ruby library on my computer.
The goal of the system is to keep the drone a particular distance from and parallel to a wall whil... |
I have an RSL Line Sensor which is designed to distinguish black and white lines. It detects white surface and gives me digital 1 as output, with 0 in case of black, but the surface needs to be close to it.
As it uses infra-red-sensors, I wanted to use this sensor as a proximity sensor, to tell me if there is a white s... |
How to compute the angular and linear velocities Quaternions? I am new to this area and although I have studied the algebra I am unable to understand how to compute the velocities.
|
I'm currently building a hexapod bot, composed with an Arduino Mega board and an USB SSC-32 (from Lynxmotion).
But now I want add a PS3 wireless controller to move my hexapod, I have made some search but nothing realy interesting. Maybe the Servoshock module but it seems works only with the ServoshockShield, a kind of ... |
I am designing a badminton robot but i am very confused about mechanisms needed for a badminton robot and various calculations needed for millisecond response.I am also confused about calculations needed about the forces needed and efficient angles needed for hitting the shuttlecock.Please suggest me some ideas or sugg... |
I have to use kinect for an application. However, the final work must be mobile: it means no computer. Consequently, I thought using a microcontroller to handle data from kinect. But is it possible? My job is mesuring some points of a body (axis X, Y, Z) and get back these coordinates. I don't know if I'm enough accur... |
I have made a RC robot from a wheelchair and I'm planning to attach a snow plow. I'm wondering if there is any mechanism that would be able to lift the plow when reversing.
I have only 2 channel transmitter so I can't control the plow's movement through it so I was thinking of some mechanical lift that triggers when r... |
I have a big problem trying to stabilize a quadrotor with a PD controller.
The model and the program has been written in C++ and the model dynamic has been taken from this source in internet:
Well, in my code I wrote the model like in the eq. system ( see eq. 3.30 on page 21):
/* Calculate the acceleration about all 6... |
While reading the paper "Multirotor Aerial Vehicles: Modeling, Estimation, and Control of Quadrotor" by Mahony, Kumar and Corke, I stumbled across the following equations for a non-linear attitude observer, which I would like to implement, but I believe there is something wrong.
$\dot{\hat{R}} := \hat{R} \left( \Omega_... |
I'm trying to make a Quadcopter from scratch, I have a fair amount of experience with adruinos, and I'm trying to understand how to necessary systems work, and I can't seem to figure out what PID means, is it a method of regulating pitch and roll? like a stabilizer? I think from what I've read that its a system that de... |
I'd like to slice and dice floor tile into pieces so I can arrange it in geometric patterns. I have CAD designs for the parts. Would any consumer grade CNC machine be capable of doing the job?
|
I am trying to calculate likelihood of laser scan($Z$) at give pose($x$) with known map ($m$) using beam based model
$P\left(z_t|x_t,m \right)=\prod_{i=1}^{n}P'\left(z_i|x_t,m \right)$
My scan has 360 rays i.e $n=360$, When i calculate $P\left(z_t|x_t,m \right)$ it becomes zero as multiplication all propabilities $... |
I would like to create an Infinite-horizon, continuous-time LQR with a cost functional defined as
$$J = \int_{0}^\infty \left( e^T Q e + u^T R u \right) dt$$
where e is the states' error $x-x_d$, but I have trouble concluding to the appropriate Ricatti equation since $x_d$ is a function of time therefore leading to a t... |
I purchased a Pololu Dual MC33926 Motor Driver Shield for Arduino, and for some reason I cannot read current from the motor controller. On the Serial.println() it just prints weird data (garbage), and when I use ROS (Robot Operating System) I only see -0.0 (minus zero) value for both motors.
All I've done is plug the s... |
Some friends and I are interested in working on a robot. I know little to nothing about robotics, but do have a lot of experience with programming. Before we start, I am hoping that I can find some development kits or libraries that will help aid the goals of the robot. Which are:
Robot needs to move from point A to p... |
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