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Working with a swarm of robots, collaboration between the nodes is really important(either for the goal of simulation or real-word operation). Middle-wares are the frameworks for this special purpose. I know some of the relevant middle-wares like ROS(general-purpose but popular) or uMVS(that is basically design for AUV...
I have a GY-31 Light sensor and I am trying to make a skittle sorting machine. There is a little wheel skittles can drop into then they are turn to 90 degrees read by the light sensor then dropped out the bottom. The problem is the code seems to get stuck after reading the light sensor (it still flows through but won't...
I want programme my very own G-code generator for my final year electrical engineering project. I know that there are many open source G-code generators out there, but I need a G-code generator which generates a G-codes for custom circuit designs drawn by the user and pass the G-code serially to my 2 axis CNC machine. ...
I suppose who know ROS and how it works (at least most of you) I have some question regarding the implementation of a quadrotor in that framework. 3D movements: A quadrotor has 6DOF and moves in a 3D environment. Looking at the various ROS packages I could not find any package that allows to drive a "robot" in the...
The robot should go around 2 boxes and stop at the starting point after tracing a 8 figure pattern. With micro-controllers, i guess it can be easily done using sensors or navigation algorithms. Please suggest how can be one made without them.
I'm reading a book about a hypothetical economy in which robots work for us because they eventually became able to do everything we do ("Our work here is done, visions of a robot economy" by Nesta). I was wondering though: is it theoretically possible for a human brain (an extremely complex artificial intelligence the...
My quadcopter can lift off the ground, but it kinds of circles around. Here is my video https://www.youtube.com/watch?v=Rxjpwhbgiw0 Anyone helps me?
I have a project in mind for a robot which is able to recognize surfaces, and thought about including the following sensors: a temperature sensor a colour sensor, or a complex of electronic components to determine a colour and a texture sensor, or, as above, a complex of components to fulfill the purpose Now, I did s...
I have a simple RRR manipulator where one motor controls the base rotation, and the other two allow movement in a plane extending forward from the base and upwards/downwards. Are there any standard ways to ensure the angle of the end effector remains constant? My current solution uses explicit trigonometric expressions...
I previously used the Ziegler method to tune the parameters of my PID controller to control my robot's position. I then implemented fuzzy logic for self-tuning the parameters. I have two inputs to the fuzzy logic controller; one is the position error and the error rate. I know that my problem might be due to not under...
I am making a self balancing scooter which runs off 2 x 12V SLA batteries connected in series to make 24V. Everything works as expected except for the power supply which makes me pull most of the hair in my head for 2 weeks now. Hope someone could help. The 2 24V motors run off the batteries directly. Now for my scoote...
I am planning to control my bicycle derailleur with an electronic circuit, the advantages being multiple but not topic of this question. The actuation would be performed by placing the assembly very close to the derailleur (but not on it) and by winding the usual steel cable around a spool placed on axis of a gear, and...
I am new to robotics, and would like to build a smaller robotic arm than in manufacturing facilities. I want a small robotic material handlers that can pick up or handle small objects around 12"x12"x12" objects. Essentially a small robotic assembly line in my garage. Are there any kits I can purchase that deals with ro...
I am a software engineer and also a poultry farmer. I periodically have to manipulate my poultry in such a way as to grab their head and hold them for a brief period, approximately 10 - 30 seconds. This is an extremely labor-intensive process and it occurred to me that I might be able to use robotics to do the same ta...
I am using PID controller to stabilize quadcopter. Its working well on the jig. But when I removed jig it went up and hit ceiling. I analyzed my data and from which I come to the conclusion that at static poisition my gyro sensor is outputing +-6deg/sec but when I start motors (without being control in) gyro rate jupms...
I am a complete beginner at this. I have an arbitrary map as a PNG file (black and white, only). And I'm supposed to draw a robot at a position(x,y) and then I'm supposed to simulate the robot taking a laser-scan measurement for an opening angle of 130 degrees, separation of each scan-line is 2 degrees. So, obviously: ...
My and a friend are hacking together a Nespresso Coffee pod dispenser. We have our heart set on a particular design after thinking up countless ways of dispensing a single pod. The design has a single flavour of pods in a vertical tube so they tend to fall down. One or more latches around the base of the tube stop any...
I have sorted out all the internals for my robot (drive systems and weaponry) and now I need to put it all together in a chassis which will be about 40 cm wide by 35 cm long by 7 cm high. I have examined different options, including Perspex, Acrylic and Polycarbonate as well as aluminum, in a number of thicknesses. How...
I scavenged a 4 terminal power switch (Legion EPS 21) from some electronic device (don't remember what it was) and it has the following markings on it: Legion EPS21 10A 250VAC TV-5 8A/128A 250V µT85 I would like to use this as the main power switch for my robot which will have nothing higher than 12 volts and a "norm...
After seeing the movie, I, Robot, I got this question. If Asimov's 3 Laws (actually implementing law 1 automatically implements the other 2) are perfectly implemented on a quantum computer that controls an army of humanoid robots, and it decides that taking complete control over the politics and economics via revoluti...
QT has native bluetooth support, but can it be used to communicate with the Lego NXT robot?
I'm working on a diy quadcopter build from scratch and have bought a 4pack ESC from Castel Creations.While i currently have my quad up and running(sort of), from what i've read on the various sources and forums on the internet, i am not able to/ not recommended to use different ESCs together on the same quad. As i boug...
Well, I wanted to use some very small servos for a project and the smallest I could find there these: https://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=33401 But Danny Choo (a Japanese blogger) started a business with robotic dolls some time ago and I remember him mentioning somewhere on his site tha...
I'm stumped. I've been looking through all of the Qt classes and I'm so completely and utterly lost. There are only three examples of bluetooth use in Qt, but none of them work for me. I just need a program that can talk with NXT and analyze an image from a webcam. Has anybody gotten this to work before?
I have a camera mounted on a rotational joint. I need to calibrate the extrinsics of this camera. I can fix the camera at an estimated angle (facing the ceiling). Then I want to get the real angle. For that I track key-points in the ceiling while moving my robot forward. Supposing that odometry is perfect, I will see a...
How does the submarine prevent water flow through the screw mechanism? The mechanism rotates the screw so there should be a little gap, how come the water doesn't come through this gap in to the submarine?
I've been reading about hierarchical reinforcement learning (HRL) and it's applications. A well-written literature review on the subject can be found here. However, I was wondering if research has ever been done where an HRL system has been implemented on an individual robot? This paper seems to imply that it has been,...
How would i go about measuring and quantifying the performance of an ESC? I am looking to measure the response rate(in Hz) of an ESC, as well as it's performance(i.e how fast it starts and stops, as well as how much it increases/decreases the motor's speed per tick). I'm assuming that i can manually program an ESC and ...
I wish to start my vending business, but none of the existing vending machines fit my needs. So, I need to choose the "brains" to my vending machine under current development. The user experience of my vending machine will be: User change their products on touchscreen display (firegox open rails application running in...
I am using the wheels and motors of an RC toy car as a simple robotics platform. The car has 2 motors, one drives the back wheels, the other steers the front wheels. The steering motor is stalled by design when steering, it is blocked at a fixed angle by the plastic chassis. It draws 0.85 A when stalled (i.e. anytime w...
I've read about various robots using a 2D lidar system for SLAM ( such as at IGCV, http://www.igvc.org/ ) but I'm wondering how good exactly does the sensor have to be? Specifically: What accuracy is necessary? What field of view is necessary? Is it enough just to have lidar scanning forward in a 90 degree sweep? Wha...
In my possession I have an Inovatic USB Interface. (In Detail: UI-8x8 v1.1 2009) I would like to program it to do some simple stuff and things. I am familiar with C# Programming but from what i have heard its not possible to program this interface with C#. What it looks like: Where can I find the Drivers for this I...
I am computer programmer and it's really been long since I have done electronics. I need help on connecting my servos to an Arduino to power my robotic arm. This is the robotic arm that I am trying to build. I have come up with the connections as shown in the below diagram with my basic knowledge and browsing the inter...
When I put stereo camera on a moving platform and sync the cameras, what kind of delay between the cameras is tolerable? This would probably depend on the motion, but are there some guidelines? Are there any practitioner guides on how to build a moving stereo system?
I am new to robotics. I want to make a robot using Arduino Uno R3. I need to use Gear Motor 9 for that here is the link. The problem is that motor needs 50mA current. But arduino only outputs only 40mA current. I want to supply the motors with another power source and use a switch to connect both the circuits. Can yo...
I have a two-wheeled (two DC motors) robot that needs to follow the wall beside the robot. The issue is that the DC motors spin at different rates (because they are not identical, of course), so the robot does not go straight when the same voltage is provided to each motor. How can I use IR distance sensors (and op-amp...
I have a two-wheeled (two DC motors) robot that needs to follow the wall beside the robot. The issue is that the DC motors spin at different rates (because they are not identical, of course), so the robot does not go straight when the same voltage is provided to each motor. How can I use IR distance sensors (and op-amp...
To determine an outdoor location I think that I need to measure the angles between at least 3 beacons and take into account the order I sweep the beacons. Is this a workable solution to get positional accuracy of about 30cm in a house block sized area? Rewrite of question, note no distance measurement is suggested onl...
This is all hypothetical. If it was possible, it would have been done by now. I realise that this area has been touched upon in many sci-fi movies but I wondered that if it was even feasible, how could it be achieved? I know that it would raise a lot of ethical questions, I don't doubt that but I'm interested in the sc...
I am a newbie in this drone field. I am curious to know what type of rotation and translation a dualcopter can achieve ? By rotation and translation i mean can it be able to roll, pitch and yaw like quadcopters? If not, in any copter what makes them to roll pitch and yaw? Furthermore are there any dualcopter design tha...
given the following differential equation 2°ODE in the following form: $\ddot{z}=-g + ( cos(\phi) cos(\theta))U_{1}/m $ found in many papers (example) and describing the dynamic model of a quadrotor (in this case I'm interested as an example only for the vertical axis $Z$) , I get the movement about $Z$ after integrati...
I have a robot simulation that simulates Mars Exploration Rover with six steerable wheels. In case of the following steering configuration // --- // front wheels // // middle wheels // --- // rear wheels I'd say the heading of the rover with respect of the rover's body is about 45 to the right. My question is...
I am looking for open source implementations of an EKF for 6D pose estimation (Inertial Navigation System) using at minimum an IMU (accelerometer, gyroscope) + absolute position (or pose) sensor. This seems to be such a recurring and important problem in robotics that I am surprised I cannot find a few reference implem...
With the lego NXT Mindstorm kit I would like to have a rotating carousel that has "perfect" movement. This carousel has baskets and therefore it has quite a bit of inertia. I would like to find a method to calculate the perfect time to slow it down--taking into account motor friction, and momentum etc. Here is some dat...
My lab is interested in a good all-terrain UGV that can also be used indoors. We are particularly interested in the Clearpath Husky, Clearpath Jackal, and the Robotnik Summit XL (or XL HL), though we would welcome any other suggestions. Does anyone happen to have experience with more than one of these, and can speak to...
I am looking into building a nano quadcopter, But as i watch more resources and videos i get more confused, regarding some of the things that i hope would be answered here. I am in very basic level of expertise here, i haven't built any robots or quadcopters to be exact. What i want to know is, when i program a quadcop...
What's an appropriate tool for simulating a car driving in a simple closed-loop racetrack? I'm trying to implement the control logic for an autonomous vehicle, and I'd like to be able to first simulate the behaviour before testing on a physical platform. The target environment is mostly 2D, but there are some 3D obstac...
When I look at my toy gyroscope (I have never seen the inside of a motorized gyroscope), the central flywheel is suspended within the various gymbals and needs a lot of freedom of movement. It's hard to see how an electric motor in the flywheel hub could be supplied with power. How do "real" gyroscopes maintain angula...
How can I write a linear state space model for a 4 wheel mobile robot with Ackerman steering in terms of error. I want the robot to follow a line. The robot is rear wheel drive
My friend and I are building the upper body of a humanoid robot for our M.Sc thesis project. There are 24 DC motors in this robot. The thing I want to know is what is the best way to command these motors simultaneously? The design I had in mind is for each motor to have its own micro for position and velocity control a...
I am looking to buy a laser distance meter and to connect it to a motor and a 3g cellular to control both the motor and to mesure the distance. I will appriciate your advice on how to do so. thanks
Please give me guidance how should I proceed to know about SLAM algorithm? I am following some youtube videos but those are not so much helpful for me.....
We estimate position of robot in localization and SLAM. My intuition says we get better position estimation in localisation than in SLAM because we have better sensor model likelihoods in localization because of given complete environment than in SLAM. I would like to know the difference in accuracy of estimated positi...
I'm trying to devise a system to lift a 10kg weight a distance of 1.4m vertically, and allow it to move in/out a distance of 30cm. I'd like the motions to be able to occur simultaneously if possible. I'm thinking for the vertical motion I can use a suspended climber system. However I am unsure as to how I devise a sys...
I'm building a quadcopter using Raspberry Pi. There is the Pi Camera connected to the Raspberry Pi which is streaming the captured video. I can connect to this stream via Wi-Fi on my notebook (Linux) by using the console command "nc" and then show it by "mplayer". What I want to do though is avoid the console commands ...
I am building the upper body of a humanoid robot for my M.Sc thesis project with 24 DC motors and multiple sensors (something like i-cub or Nao). I have basic knowledge of communication protocols and I have worked with micros before but I have no knowledge and experience on working with ROS. The question I have is whet...
My native language is not English, so I don't know all the specific terms you may expect me to use. I apologize for that. Anyway, I have a motor and three connecting rods (in French, bielles). So point C will have a circular trajectory and A, thanks to the sliding pivot (pivot glissant, I really hope I am using the ri...
I am using L3GD20 and I am trying to implement a kalman filter for it on the stm32f3 discovery board. I have though a few questions about that: After the filter gave me the values, do I have to make an average between them and those of the original model or should I use them as they are? According to this document, we...
I am making a robot that is supposed to roam inside my house and pick up trash using openCV. I plan to send information from my arduino mega to my arduino nano connected to window pc using radio transceivers. I also plan to send video feed from raspberry pi camera over WiFi to the windows PC. The windows PC then uses o...
I am trying to integrate bluetooth in a project with MSP430 so to be able to communicate between it and my PC. Doing a search on eBay I found the following item: HC-05 06 Transceiver Bluetooth Module Backboard Interface Base Board Serial There are also a lot of other bluetooth modules that appear to be a lot more expe...
Is there a "cape" to make wiring sensors into a Beaglebone Black easier? Whenever I read some guide for wiring a sensor into the Beaglebone (like this one) it always recommends attaching wires directly to GND, +V and signal pins, which is horribly messy and unmaintainable. Even for small projects, you end up having sev...
I am using this gyroscope in order to measure the rotation of my robot around the z axis. I want to implement a kalman filter in order to improve the values. What i came with since now is this space model: $$ θ(k+1)=θ(k)+dt*θ'(k)+w(k) $$ $$ y(k)=θ(k)+z(k) $$ where $θ$ is the angle, $θ'$ is the angular rate given by ...
I originally asked this here but I am struggling to take the concepts, particularly "Circumcenter", discussed there and apply it in my context. So here it is in my context... I have a small robot that can "see" (via a camera) a partial arc (from a birds-eye view) Therefore I know the height and the width of the square ...
I was looking at the Pixhawk specs and noticed that it has 2 different IMUs- Invensense and STM. Is it for redundancy or does it have any other higher purpose?
Suppose I have a robot arm with $n$ linkages of fixed length and equal density whose motion constrained within a 2D plane. I want the end effector to reach a particular pose $(x^,y^,\theta^*)$. I know that in general, there can be multiple solutions that can reach this pose. For my particular application, I'm int...
I am working with a position-controlled manipulator. However, I want to implement a torque-controlled method on this robot. Is there any way to convert a torque command to a position command? I try to find research papers on this but I have no idea where I should start or which keywords I should use in searching. Do yo...
I am new to robotics, and ime looking for a <12v motor that can be used to power a car-like robot.I will have two of these, so I can turn on-spot. Furthermore I want them not to require a gearbox, so I can just attach them to the wheels. I don't really know where to start looking for one. I have heard servos have buil...
I am looking to build an adaptable robotic arm with under-actuated three (or four) fingered hands. Before I start shelling out money, I want to test my prototypes in a simulator which would ideally allow me to try out various actuators, and also possibly a tactile sensor (like a pressure sensitive resistor or a pressu...
Sharp IR range finders are pretty popular sensors, but I usually see them externally mounted and directly exposed to the environment which makes them prone to being damaged or getting crufty. I have a few that I'd like to use on an outdoor rover, and I'd like to cover them with some sort of transparent case to protect ...
I'm trying to pull analog input from a beaglebone black using this tutorial. However when I go to /sys/devices there is no cape-bone-iio. I have spoken with several other programmers and one of them suggested that the cape-bone does not work with the newer versions of Linux. However downgrading could have negative impa...
Let's first start of by explaining that I do not have a decent background in electronics and interfacing with them, so maybe this is a stupid question. I am currently trying to connect an old Harvard 33 syringe pump (website, PDF manual) to a computer, with the goal of controlling things like pump rates and direction. ...
I'm currently flying a f450 Quadcopter using a APM 2.6 flight controller.While i am able to get the quad off the ground and relatively steady horizontally(via the use of trims).However, i am unable to get the quad to hover no matter what i do.I've tried using trims on throttle,but i am still unable to get it hover.On m...
We want our wheeled robot to follow a (rather short) trajectory. We wrote an LQR controller, which works well in simulation. However, our robot offers two problems: 1.) The reported state information does not seem to be very accurate. 2.) Its motion seems to underly some random deviations. We did not succeed in establi...
Suppose we need to detect the occurrence of a special event in a large area(e.g. a city). If we need that each point being visited every h hours, how could we find the optimal number of robots for cooperative surveillance? Notice that there is no control center!
I am looking for possible ISO standards for robot safety specifically for software. I have come across this presentation that mentions many ISO standards and it's not very clear which exactly applies to software. The most probable ones are: ISO 10218-1 ISO 13849-1 / IEC 62061 IEC 61508 ISO/TS 15066 The safety related...
I'm connecting an arduino to a lcd screen using the following library. For the display code I have written a simple piece of code that should display 2 picture os eyes (1 angry one friendly) and switching at regular intervals, however the display keeps showing me weird pixels around the borders that shouldn't be there,...
I need to simulate robotic cell where cartesian robot trims a PCB arriving on conveyor, picks it up with vacuum cup and and places in another device. After receiving signal from device the robot would pick it up and place on another belt. I want to make the cartesian robot myself using servomotors and control cell usin...
The rubber hand illusion (Wikipedia) involves touching both a fake arm and a subject's real arm simultaneously. This causes the subject to feel that the fake arm belongs to him. Normally a human delivers both touches, so the timing is approximate. I want to vary the latency between the fake touch and real touch precise...
I'm looking to buy a micromouse (i.e. a small single-board unit with wheels and IR sensors that can move around freely). I've done a lot of searching but have only found resources relating to building one from components bought separately. However, I'm more of a programmer than an electrician so I fear I would struggle...
I have a requirement to transmit some sensor data through wireless to a distance of 2 kilometers. I am a newbie to these technologies and concepts. Can anyone help me by providing some pointers to start with this.
I want to calibrate my compass, which is installed on a board which inherits a GPS module. Because the GPS antenna is up-side-down the compass is 180° inverted. The easiest way to correct the problem would be to invert the rotation matrix 180°. However I got interested how a general approach to calibrate a compass wou...
I have a 7dof robotic arm and a set of end effector trajectories in cartesian space I need it to follow. How do I deal with the redundancy in the arm when planning to follow these trajectories both with and without obstacle avoidance?
I've built a quadcopter and a rig to safely test it on. I'm working on the PID for controlling the roll pitch and yaw. I understand how a PID works on a more simple plant like say a robot with wheels and I'm just really in the dark ( i believe ) with controlling and stabilizing a quad. My question, how do I make these ...
I am building a collision avoidance system for my robot. As a part of this system I am using a pan and tilt kit (http://www.robotshop.com/en/lynxmotion-pan-and-tilt-kit-aluminium2.html) My aim is to pan the sensor attached to this kit, and thus plan the route the robot should take. In order to pan this sensor, I need ...
I can't open parameter list with APM Planner. Moreover I can't find anyone with same problem. I run it on Ubuntu/trusty 14.04 It does not see files with any extensions including param and txt downloaded from internet or created with my version of APM Planner. Any ideas how can I fix it? PS ls -la from terminal user@la...
As already mentioned the PID output values that correspond to the error from the desirable error and current error has no units. Let's say we are using only the proportional part of the PID. Is it better to map the output of the PID values to the corresponding thrust values on each motor, or is it better to increase th...
I'm attempting to build a heavy platform on the Create 2 but am worried about weight on the platform. What is the maximum weight for the platform and is there an optimum? I have an old create and want to know if any of my existing cables and accessories can be used with the new Create 2?
What aged children is the Create 2 appropriate for? What is prerequisite knowledge? Is this an appropriate first robot kit for a child?
I have an arduino uno and a BeagleBone black and would like them to talk with eachother. Both the beagleBone and the arduino have their own 5V power supplies so no need for power to be transferred over usb. The used communication line we would like to use is the direct serial line. Preferably in such a way that the ard...
What is the best yet simple to use angular position sensor? I am building a robotic hand and I want to implement this sensor at the joints of the fingers. I don't need a module, just an analogue output. Thank you.
I am new to robotics. I want to understand how gears state is preserved as the gears turned to same positions repetitively. I have a bevel gear and a step motor connected to one gear. This gear will turn 45*n = degrees. That is to say there are 8 states gears will stay in. The problem here is there will be force on th...
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 going lately to be feed into my quadrotor drivers. I'm honest: I don't know where to start. Reading the following inte...
After a lot of learning, I'm launching a reballing business and I feel the need to have a realtime plot of the temperatures involved (ideally 3 or 4) and I have an arduino uno and a few K type thermocouples, I was researching the subject and saw a lot of different approachs, most of them use arduinos to send serial dat...
I am trying to control an omni wheel robot which has 4 motors using 2 joysticks, plus there are some actuation switches which I want to control too. I am using arduino mega and a pair of bluetooth wireless module(HC-05). This bluetooth modules works on serial communication. How should I program arduino to send both the...
For a school project I am looking to track the sun with +/- 0.1 degree accuracy for use with a parabolic dish reflector. Say we need a final output torque of about 20Nm, what kind of gearing/motors and feedback would you guys use to accomplish this? The sun position will be found with a solar positioning algorithm. I a...
I'm trying to add a new message to the MAVLink interface. Following this page, there are the steps I took: Added the message to ardupilotmega.xml. Right at the end of the file: <message name="TESTING_TESTING_TESTING" id="182"> <description>A testing message</description> <field type="int16_t" name="placeholder">Do...
I am reading the following research paper regarding Trajectory tracking of mobile robots. http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5415188 There are two things at the start of the paper that i do not understand. 1) The author derives equation(14) as the state space model of the system in which he conside...
I'm interested in quadcopters/multi-rotors and want to eventually code my own flight controller ala an APM and/or Pixhawk. I've got a little experience in programming (i.e i know about if/else/else if conditionals), and have done a little programming with PHP, though it was procedural code. I currently have a quadcopte...
I've got an industrial sewing machine (think "can sew with thread that looks like string, and has no trouble pounding through 20 layers of Sunbrella fabric"); it's got a 1 HP motor to power it. (I've got a smaller machine as well, w/ a 1/2 or 3/4 HP motor, which I might work on first.) The motor is a "clutch motor" whi...
I've just made a radio frequency remote control using PIC microcontroller and I want to do something useful with it. I am thinking of a robot that gets things for you while you are at bed but here comes the question: How am I going to have the PIC determine the location of the remote control calling for it? It can't re...

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