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I have followed the tutorial for razor IMU and it worked perfectly when the IMU is directly connected to the PC. Currently, i am trying to interface the 9 dof razor imu with the arduino uno by simply connect the rx to tx and tx to rx. Sadly, it doesn't work! So, i am just wondering, has anyone done this before? or can ... |
Are any commercially available compound vision sensors available?
Not a simple 8 sensor system using photo-diodes but a genuine sensor that can provide a >32x32 compound matrix. Would some form of reduction in the granularity of a megapixel camera be a better option? The real purpose is to reduce processing time to a m... |
I'm looking for an arduino compatible depth sensor NOT for water. What I need is a sensor very similar to an Xbox kinect (but much smaller) that will tell me what is in front of the sensor and also the shape of the object. For example, if I place a cylindrical water bottle in front of the sensor I would like to be able... |
When I use a standard manual vacuum, I often notice that I have to pass over a spot several times because a single pass does not necessarily catch all the dirt. My eyes/brain can easily perceive this information visually, but I don't know how an autonomous robot vacuum can detect whether a pass over a patch of dirt wa... |
I know that Occupancy Grid Mapping requires the assumption that the robots' pose is always known when generating a map. However, I also know that in reality, position and orientation usually treated as uncertain in practical applications. Assuming that my target mapping environment is inside a home, is there a way I ... |
I want to use brushless for my line follower.
The problem is most ESCs don't accept more than 400-500 updates/s due to the characteristic of steering signal.
Is there a way to overcome this with a custom flash or am I out of luck?
|
I am struggling to find good links to the use of goal babbling in SLAM applications. Has this technique been used as a method for optimizing movement in a SLAM environment?
|
How can I power a wheel but let it spin freely when not under power?
I saw the question How can I modify a low cost hobby servo to run 'freely'? but I'm more interested in knowing if there is some sort of gearbox that disengages ( moves to 'neutral' ) when no torque is being applied to it.
Two ideas that come to mind a... |
I have the quadcopter in the photo below. It has rotate theta degrees about the -y axis. I want to get the x and z components in the local frame for the weight W which always points along the vertical downward.
We simply have:
Wx = W sin(theta); Wz = W cos(theta);
Suppose that W = 4N and theta = 30 deg, then:
Wx = -4... |
I have found a continous control in the following form:
$$
u(s) = \left( K_{p} + \frac{K_{i}}{s} + K_{d} \frac{N}{1 + \frac{N}{s}} \right)e(s)
$$
but since I need it to "convert" in a digital control I need something like:
$$
y_{k} = y_{k-1} + q_{0}e_{k-1} + q_{2}e_{k-2}
$$
or everything that I can use in a digital way... |
I want to make a robot arm where a joint is powerful enough to lift 8 kg up at a distance of 1 meter.
This requires torque $tau = r*F = r*m*g$ = about 80 nm.
So now I am trying to find the requisite parts to put this together, i.e. motor + gears and then controller.
It seems that I will require a very high gear ratio... |
First of all please see this video : http://www.youtube.com/watch?v=n0dkn4ZIQVg
I think there is ony one stepper motor -or servo- working in the mechanisim. But as you can see each flip counter works alone and separately.
It is not like classical counter mechanism like this : http://www.youtube.com/watch?v=rjWfIiaOFR4
... |
I will be beginner need a help-I want to gain knowledge about robotics so it need a basic theoretical knowledge what is the best way to start?
|
Help! I have recently installed leJOS NXJ on to my NXT brick, and soon after my batteries died. I inserted new ones, and now I cant start my brick up. When I press the startup button(orange) it makes a clicking sound and when I let go it stops. I have tried reflashing the brick with both leJOS NXJ and the NXT software ... |
As far as i can tell, the markov assumption is quite ubiquitous in probabilistic methods for robotics and i can see why. The notion that you can summarize all of your robot's previous poses with its current pose makes many methods computationally tractable.
I'm just wondering if there are any classic examples of probl... |
What is a good website for buying 1.5V continuous motors? I'm looking to build a clockwork robot but I cannot find a motor small enough to fit inside my power box and I don't want to mount it outside of the box. I have a 1" by .75" space that the motor needs to fit into. I have found a few websites but they look sketch... |
I know that this isn't a programming question, but it is robotics so I thought you could all be flexible since it's my first question?
Anyway. I love making robots using robot kits that come with instructions. It's always fun to use afterwards because of the controllers I build with it.
The problem is that I can't find... |
I am reading some theories related to rigid body motion from the book "A Mathematical Introduction to Robotic Manipulation" by Prof. Richard Murray.
I am focusing on chapter 2, Sec 4 to derive some formulation. According to his introduction of chapter "we present a modern approach treatment of the theory of screws bas... |
In the dynamic model of the robot, it is obvious that we found the torques as functions of the angular acceleration of the joint as well as the linear acceleration of the link center of mass along the three axies.
My question is regarding the values of these accelerations. In general, step motors specifications do not ... |
I would like to implement the joint compatibility branch and bound technique in this link as a method to carry out data association. I've read the paper but still confused about this function $f_{H_{i}} (x,y)$. I don't know exactly what they are trying to do. They compared their approach with The individual compatibili... |
I am cautiously moving forward with my new iRobot Create 2, planning on using a Raspberry Pi with ROSberry installed to control the Create 2. Discovered a problem with the pin out specs between the iRobot Roomba Open Interface (OI) Specification and the Create 2 Serial to 3.3V Logic document. Here is the discrepancy (m... |
The hole is a slightly too big for the motor's shaft. I thought about hot gluing them together.
Link to picture here
|
I have an application that needs a XBee and another module to be turned on and off digitally via a microcontroller.
The Setup is 2 XBee's and an application board is connected to the Microcontroller. On PowerON I need 1 Xbee and the Microcontroller to come on and do its routines. After the uC gets the signal from the X... |
I've develop a quadrotor (only simulation on my PC using ROS) and the feedback controller resumes more or less the following structure:
where you can think that process is the dynamic movement of the quadrotor (motion equations), the inner loop is the attitude controller (it just sets the orientation about all 3 axis)... |
I'm trying to understand the source code of ArduPlane. The MAVLink message is decoded using a set of _MAV_RETURN_???? functions, e.g. _MAV_RETURN_float
When I grep recursively for _MAV_RETURN_float, I could not find where it is defined. I wonder if I'm missing anything.
UPDATE
Here is the source code of Ardupilot, i... |
I've been working on a quad copter for awhile now, recently I've finished the interface for PID tuning and its leading me to question several design decisions.
The quad uses a RaspberryPi as its pilot, the entire loop takes less than 20ms. IMU data is gathered, the throttle speeds are calculated, and then finally sent... |
At first happy new 2015!!!
I'm looking for my next simulator development: a Tanker is flying at constant speed (350 Knots) (no acceleration, no change of altitude or direction). The Tanker is approached from behind by a UAV which needs to refuel or transfer data through a wire. The UAV knows the direction, the speed an... |
So I'm in the process of building my robot and it has encoders on every wheel measuring speed and position and a compass sensor measuring heading.
I have 3 seperate PID loops at the moment, I can either control the robots speed or I can control the robots position or I can make it follow a heading using a line followin... |
I have some questions regarding building a gearbox for a motor to create a robot actuator. Given my desired motor and loads, I've determined that a gear ratio in the 400-700 range is adequate for my application.
Here is my motor choice for reference: http://www.robotshop.com/ca/en/banebots-rs-550-motor-12v-19300rpm.ht... |
A friend and colleague of mine who studies robotics says that bipedal robots present much greater challenges for stability and locomotion than those with more legs.
So why is there so much effort to develop bipedal robots? Are there any practical advantages?
Of course, I see the advantage of having arm-like free appen... |
I would like to control the position and velocity of a DC motor like this one (ZY MY 1016 - 24V - 10A - 200W). The motor comes with a 13 TOOTH SPROCKET and the diameter of the shaft is 6mm. It's not possible to apply an encoder to the back of the motor (see picture)
The angular velocity in the description is 2750 RPM, ... |
I'm attempting to customise some code for my DIY pentacopter frame.
To that end, i've modified the some existing code, and saved it under AP_MotorPenta.cpp and AP_MotorsPenta.h . I'm currently trying to upload the code onto my flight controller, but am currently unable to do so due to the following problems.
Problems
U... |
I am planning to develop a monocular visual odometry system. Is there any indoor dataset available to the public, along with the ground truth, on which I can test my approach?
Note: I am already aware of the KITTI Vision Benchmark Suite which provides stereo data for outdoor vehicles.
If anyone has access to the datase... |
I am trying to design a robot to lift tote-crates and transport them around in a localized area. I want to be able to carry 3 tote-creates at a time. This robot needs to be able to pickup the creates. I only want the robot to carry three at a time so keep is small and mobile. I was thinking of a design with a central ... |
I'm absolutely fascinated by the notion of a driverless car. I know there is a lot involved with it and there are many different approaches to the problem.
To narrow the scope of this question to something reasonable for the SE network, i'm curious to know if there is a common sequence of subproblems that every driver... |
Power Block Designing noob here.
I have a beaglebone 2x XbeePro(s) and another 500mAh device connected to the board i am building a PCB Around.
I need some advice on weather to use Linear Voltage Regulation vs Switching mode regulation.
Secondly if i am using linear voltage regulation setup do I need multiple regulato... |
I've seen lots of examples on how to communicate from Arduino to the computer, but the few that talked about computer to Arduino communications were very hard to understand.
My question is: What code can I use to control my arduino Uno with my keyboard
if it helps, I'm trying to set up a WASD steering behavior.
|
I'm working on a project requiring HD (Stereo) Video Processing. Most of High Resolution (5MP+) Sensors use MIPI-CSI interface.
I managed to get a board with an Exynos5 SoC. The SoC Itself has 2 MIPI-CSI2 interfaces, the problem is that the pins to those interfaces are not exposed and It's (almost) impossible to reach... |
I am planning to use 2.4Ghz XBeePro 63mW Devices for a project that requires a coverage area of around 1.5-2km.
When i go to select an antenna there are various options like Circular,Virtical, Horizontal polarized etc.
Which antenna would give a coverage for a field? I cant have it directional (one point to another po... |
I'm building a quadcopter for my final year project. I have a set of equations describing attitude and altitude but they involve $I_{xx}$, $I_{yy}$ and $I_{zz}$. None of the papers I have read describe how these are calculated. they simply choose it before their simulation. Can anyone help?
|
I'm trying to get an arduino to talk with a beaglebone black.
I have followed this tutorial for getting ttyO4 open on the BBB and used the following command on to set the serial line correctly:
wiring is set up according to this tutorial.
stty -F /dev/ttyO4 cs8 9600 ignbrk -brkint -imaxbel -opost -onlcr -isig -i... |
I am building an estimator that solves for the camera pose relative to a reference frame which contains a known set of features and edges. Currently, the system works with an unscented kalman filter with four known points (red leds) in the reference frame. I am now hoping to improve robustness by adding edges to the mo... |
After working for a long time on my Arduino Due, I needed a better and more powerful prototyping platform for my future projects. For which, I have placed an order for NVIDIA Jetson Tegra K1 board which runs on linux and supports CUDA based development. Being a newbie to Linux, I have no idea where to start from and wh... |
I'm currently thinking of extending the battery life of my quad by powering each motor and ESC individually. I will be using 1 dedicated battery for each motor, and 1 dedicated battery for the flight controller itself, bringing the total to 5 batteries for the entire quad.
My thinking is that by powering each motor wi... |
I am confused by what precisely the term "Indirect Kalman Filter" or "Error-State Kalman Filter" means.
The most plausible definition I found is in Maybeck's book [1]:
As the name indicates, in the total state space (direct) formulation, total states
such as vehicle position and velocity are among the state variable... |
I am trying to build a hexapod with camera interfacing using a beaglebone black for college project. I'm not sure what power supply to give so it can power up to bot, having in mind that it should be portable (mobile) and it should power about 18 servo motors along with the camera, wifi and the processor. Your help is ... |
I'm trying to build a hexapod with beaglebone in the linux environment (Im thinking of using Ubuntu). What is the best language to use for coding purpose to make robot controls, camera and wifi integration etc.
|
How would one go about passing power through a motor?
Let's say we have some basic robot which has a motor that slowly spins a limb, on each end of that limb, there is a motor which again spins a limb. Because the first motor is always going to be spinning, any wires would twist and eventually break, so a wired approac... |
Reading some papers about visual odometry, many use inverse depth. Is it only the mathematical inverse of the depth (meaning 1/d) or does it represent something else. And what are the advantages of using it?
|
I'm not sure if this is the correct forum for this question about Automatic Control, but I'll try to post it anyway.
So, I've just started to learn about Control Systems and I have some troubles understanding Bode plots. My textbook is really unstructured and the information I find on the Internet always seem a little ... |
I plan to use the LT1157 in my application PCB to act as a switch control from a micro controller side to control the On/Off state of 2 module boards which will be connected in the PCB.
1st Load is 5V 1A.
2nd Load is 3.3V 500mA.
The LT1157 will get a 5V input at the Vs terminal.
Does anyone know how much voltage is... |
I'm building a robot which is actually a rotating ball. All my circuitry will be inside this ball. I'm using a Raspberry Pi as the brains. Apart from Raspberry Pi, I've an H-bridge IC (L298N), a 6-axis Accelerometer + Gyroscope (MPU6050), and probably some more additional digital components. These will work with a 5V o... |
I'm studying for a test in Automatic Control and I have some troubles understanding sensitivity functions and complementary sensitivity functions.
There's one assignment from an old exam that sais
"Someone suggests that you should reduce perturbations and measurement noise simultaneously. Explain why this is not possi... |
Our goal is to drive an autonomous robot with a differential locomotion system using two identical electric motors and an Arduino Uno (1 for each wheel). From our understanding, over time the motors can lose accuracy and may result in one motor rotating more than the other.
Is there a way to account for possible error ... |
Background:
I am new to PID, for my first PID project I am using a simple P-Loop and 300 degree linear potentiometers for position feedback. I am using the roboclaw 2x60A motor controller. The motor controller has 64 speeds between. Sometimes the potentiometers can vary as much as +-4 degrees when not in motion. I a... |
I am completely new to this site and robotics, but I have experience in programming, and programming microcontrollers.
I would like to create a grid of "pixels", where each "pixel" is a metal or wooden dowel that is programmed to push in and out, like a piston.
I'm imagining a lot of pixels, maybe 40x40, where each... |
Has anyone used the XBee WiFI modules? Done a range check on them?
With my laptop i get a range of around 400m on industrial level Accesspoints on a football field, well how good are these devices ? If i get a SMA Connector version and use a higher gain antenna am I looking at ranges from 250-500m ? (Talking 18-22dBi g... |
I have data from an accelerometer that measures X,Y,Z acceleration and data from a gyroscope that measure pitch, roll and yaw. How would I combine this data to find robot location and orientation in 2D or 3D space?
|
I am starting with a project using Arducopter. I am a person familiar with arduino, but seeing the arducopter for the first time. Commands codes and everything is completly different compared to normal Arduino programming. I am not getting any help or commandlist for specific purposes in arducopter. Any body can help m... |
I have the following code:
void NewCore::spin(){
ros::Rate rate(10);
int first =1;
while(ros::ok()){
if (first){
askMath();first=0;}
ros::spinOnce();
rate.sleep();
}
}
int main(int argc, char **argv){
ros::init(argc, argv, "newCore");
NewCore nc;... |
I'm in the early stages of working with a simple robot arm, and learning about the Jacobian and inverse kinematics.
From my understanding, the Jacobian can be used to determine the linear and angular velocity of the end effector, given the angular velocity of all joints in the arm. Can it also be used to determine the ... |
I've made many PCBs at home but still there are some mistakes. I tried ironing, drawing methods but it doesn't work very well. I use eagle CAD for design PCBs. Please help me.
|
For a high school project I will be building a robot that will draw an image on a whiteboard for you based on what instructions you give. To accomplish this a motor will move the pen on each axis similar to how a 3rd printer moves but without the Z axis. As far as code goes I'm fine but I was wondering if anyone could ... |
I've been searching the internet for an answer to this question, but I haven't come across anything that will help me. Basically, we have a Meka Humanoid Robot in our lab, which has a shell head in which a PointGrey USB 3.0 camera is embedded. I use the pointgrey_camera_driver for obtaining the images from the camera.... |
Background:
I am using an Arduino Mega connected to a RoboClaw 2x60A motor driver. I asked this question about the system, but I have since narrowed the scope of the problem. I tried adding a bunch of different size capacitor between the 5v and gnd, when the RoboClaw is switched off then a 470 micro farad capacitor s... |
I would like to know the simple difference between kinematic, dynamic and differential constraints in robotic motion planning.
|
I would like to know the difference between state space and control space in relation to motion planning. I would like a simpler explanation.
|
I'm fairly new to 3D printing. I'm considering motherboards I might use to control my printer. I'm hoping to find a board that I can easily control using either:
ReplicatorG
MatterControl
I like these programs because they seem reasonably current, mature and straight-forward for beginners.
My question is can I contro... |
ATLAS Gets an Upgrade - the new video of the Atlas robot is out so I'm curious about the IDE with which they are coding this thing.
|
I have a BeagleBoneBlack and would like to use it to control a servo for my robot. I'm mostly programming in ros and as such am looking preferably for a c++ solution. Is there an easy way of controlling a servo on a BBB running ubuntu 14.04 on the kernal 3.8? Most tutorials I have tried referred to files I did not hav... |
As far as i can tell, both LQR and PID controllers can both be applied to the cart-pole (inverted pendulum) problem. What are the pros/cons to using one controller over the other for this particular problem? Are there any reasons/situations where I should prefer one over the other for this problem?
|
I am hoping someone might be able to nudge me in the right direction (apologies for the long post but wanted to get all the information I have gained so far down.
Basically I am after a solution to record the path my vessel took under water for later analysis…like a bread crumb trail.
Requirements:
Ideally have a range... |
I am trying to implement a particle filter in MATLAB to filter a robot's movement in 2D but I'm stuck at the weight function. My robot is detected by a camera via two points, so a single measure is a quadruple (xp1, yp1, xp2, yp2) and states are the usual (x,y,alpha) to detect its pose in 2D. As far as my understanding... |
Is there a sensor that will produce a sinusoidal signal phase locked to a high RPM (7000 RPM) shaft? I am attempting to build a coaxial helicopter based on the architecture described in this paper which requires increasing and decreasing drive torque once per revolution, and I would like to do this modulation in hardwa... |
I have stumbled upon an equation (https://i.stack.imgur.com/hv64E.png), where the probability of an occupancy grid map cell is calculated. My teacher insists that it's possible to approximate the algorithmic complexity of this long equation, but I'm not so sure.
The description of the factors used in this equation are ... |
This is not a robotics question, but this Stack Exchange is the closest I could find to mechanical engineering. Please refer me to a better place to ask this, if one exists. Hopefully someone might just know this.
I got a pull-back car for my boy at McDonalds, and it has two gears. It starts slow, then speeds up after... |
Hello i am building a differential drive robot which is equipped with quadrature encoders on both of the motors. My aim is to be able to predict the heading (yaw angle) of the robot using a kalman filter. I am using an MPU 9150 imu. As of now m just interested in yaw angle and not the roll/pitch. As i understand, i wil... |
A time has come for my robot to get some more permanent computer than my laptop balanced on top of it.
I have selected a mini itx board that can be powered directly from battery and some components that go with it including a wifi card and now I'm thinking about the antenna I will need.
Constraints I have identified so... |
I'm building a robot and powering it with a Raspberry Pi. I am looking at this battery pack, but I am flexible with which one to use.
My problem is that I need to be able to charge the robot while it is still on, and apparently that is not good for a single battery pack to be charging while being used (they seemed to s... |
I'm developing my fligth controller board on Tiva Launchpad for quadcoper and while calibrating PID I discovered an unexpected behaviour: sometimes quadcopter seems to experience random angle errors. While trying to investigate it, I've figured out that my code if fairly trying to compensate tham, as soon as they appea... |
My set up consists of a brushed motor (ex cordless drill type) connected to a motor controller which is in turn connected to a LIPO battery and an r/c receiver. All my cables are fitted with XT 60 connectors except for the cable that goes to the receiver which is a 3 wire pin (usual white, red and black).
The above set... |
Just to give a bit a context, here are the equations I'm using for the Angular accelerations.
φ** =(1/Jx)τφ
and
θ** =(1/Jy)τθ
So my plant gains would be
φ**/τφ =(1/Jx) along x axis
and
θ**/τθ =(1/Jy) along y axis
The basic PID structure is
Gain=Kp(Desired-measured)+Ki(integral(Desired-measured))+Kd(Differential(Desir... |
All-most all SLAM back-end implementation compute chi2 estimates. Chi2 computation is usually used to compute the best-fitness score of model to the data.
How it is related to optimization framework for SLAM?
Rgds
Nitin
|
** If there's a better stack exchange site for this, let me know--the mechanical engineering one is closed so I'm not sure where else is appropriate **
Do mechanical systems have fuses?
In an electrical system, like a charging circuit for example, we prevent large loads from damaging the system with fuses and circuit ... |
what's the quickest way to calculate a relative coordinate of a frame, as shown in the code below. The Kuka robot language this ":" is referred to as the geometric operator.
I would like to perform this calculation in matlab, scilab, smathstudio or java, could you please advise on which library to use and/or how to pr... |
I have a BBB and it works quite well however when I power it over the Barrel connector or over the vdd pins rather then use the usb connection it doesn't automatically boot. When I put the barrel connector and usb in at the same time and then remove the usb it continues running. This is running on ubuntu arm. I have te... |
A Co-worker said he remembered a 2011(ish) ICRA (ish) paper which used just a touch/bump sensor and odometry to do SLAM. I can't find it - I've paged thru the ICRA and IROS agendas and paper abstracts for 2010-2012, no joy. I found a couple of interesting papers but my coworker says these aren't the ones he remembere... |
I am studying electronics engineering. I am fond of robots since my childhood. I have small doubt i.e. if I want to get placed in
robotics and automation based company ,what should I must study(reference books/softwares etc) perticularly for cracking an interview ? In simple words,as Electronics Engineer what other spe... |
I read up on the wheels of Curiosity, and also about the suspension. But is there a name for the steering? It looks similar in nature to the front landing gear on an airplane, but searching those terms didn't turn up and answer. I've attached a picture with the area of interest highlighted.
(Image: Gene Blevins/Reuter... |
I am working on my final project by autonomous Quadcopter. my tasks are to make a quadcopter which should do object avoidance and it should auto land using ultrasonic sensors.
any possible ans to it, how should i connect HC-sr04 ultrasonic sensor to my APM 2.6 board?
Even APm 2.6 has a port I2C.
|
I wanna know how much does Pioneer P3DX cost? nothing mentioned in the website and I don't want to fill out the form regarding this matter.
|
I am looking to build some custom hardware (nothing too fancy, just some motors, cameras and the like), and I need it to be controlled by my laptop (its going to have to do a non-trivial amount of image processing).
Is there a way to attach $n$ motors to a laptop where $n<10$ via USB/e-SATA? It seems like something tha... |
What does this sentence mean :
"The chassis maintains the average pitch angle of both rockers."
Put in other words, " the pitching angle of the chassis is the average of the pitch angles of the two rocker arms"
What is a pitching angle in this context?
Please explain both pitching angles.
|
Hello I'm a new rc enthusiast,
Is anyone interested in rc's controlled through xbox remotes? The project is to use an xbox one or xbox 360 remote to either hijack a dx3e or dx3c remote or create a transmitter compatible with the spectrum receiver out of the xbox remotes. I've seen applications that use wifi but I'm no... |
I decided to work on a 2 wheeled robot position mapping problem. For that I have 2 DC motors with encoders from pololu.
I have the following two questions:
Do I need to know the model of each motor in order to tune a controller?
What are the steps/approach used to get a good mapping (let's say 1 mm maximum error)?
|
How can I send a jpeg image to a microcontroller via USART?
|
Given a DH matrix for a set of joints, how would you convert the data into homogeneous transformation matrices for each joint? I've looked online, but can't find a good tutorial.
|
I would like to build a motorized robot with stereo vision that sends visual input to a PC over wifi for processing. A Raspberry Pi would have been perfect for the task if it would be possible to connect 2 cameras. The Pi 2 would be powerful enough for two USB webcams (with minimum 8fps) I guess, but the shared USB see... |
I am wondering what the use is of two PID loops to control a quadcopter. One PID for stability control and another PID for rate control.
Why can't you just use one PID per axis to control a quadcopter where you take the current and desired angle as input and motor power as the output?
|
I've noticed that the industrial robot arms have very smooth, fast, and strong movement. Does anyone know what type of servos they use. I'm trying to build my own and don't want to have the jerky movement that is seen in a lot of DIY robot arms? Thanks.
|
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