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I am going to start a new project consisting in implementing an autonomous driving RC car.
The car as it is now, has a camera installed on each side of the car, i.e. 4 cameras in total. They are connected to a board which is able to read and process the video input.
I have been researching about obstacle detection usin... |
I have a project where I need a motor that can turn some number of rotations which will spool up a cable attached to a spring-closed device to open it up. When power is disconnected, the spring closure will cause the spool to unwind and the device to close.
In the closed position, no power is available. (i.e. The closu... |
We implemented a PID controller for our quadcopter which allows us to fly from point A to B. The precise position of the quadcopter is measured using an external tracking system.
Now that we can fly from A to B, we would like to implement a controller to fly more complex trajectories with multiple set points. E.g. from... |
In order to identify the dynamics of my DC motor, I am trying to command it with Xcos using the Arduino tool box. The problem that I am facing is how to give the motor an input command such that I get some given angle position as output. I can only control the input voltage to the motor via PWM.
I have been thinking ab... |
Apologies if this is a stupid question, but if I have a 3-axis magnetometer, and I calculate the vector magnitude as
sqrt(magX * magX + magY * magY + magZ * magZ)
...then should I not always get the same value, regardless of the sensor's orientation? Mine is all over the place, and I feel as though I'm missing somethi... |
I am designing a pan-tilt camera mount using standard hobby servos. Many existing designs use the servo shaft as a revolute joint, as opposed to simply a torque producing element. As a revolute joint the servo mechanism is subject to different torques and forces. Is using a servo shaft as a revolute joint recommen... |
I am beginner in Robotics .I have taken admission for Electronics engineering one year back as we don't have specifically Robotics Engineering Branch in my Country.Now I am suffering from questions like what is the scope of Electronics( not Electrical) Engineering in Robotics/ Automation?I am unable to distinguish betw... |
I'm not entirely sure if this is the right area to post this question, but looking at the other subjects on StackExchange, this seems to be the best fit.
I am a complete beginner to hydraulic systems, and I've wanted to learn more about this area. I'm designing a hydraulic system that involves using hydraulics to push/... |
I will be using at least one programmable real-time unit (PRU) to send pulses to a stepper motor driver but before I begin, I am trying to lay out the structure of my programs.
I am using this library PRU Linux API
for loading assembly code into the PRU instruction memory but there doesn't seem to be much documentatio... |
For example, I have a brush-less outrunner with 14 poles and 12 stator windings. It has three connectors. Can this motor be controlled in a way that it performs a single step of 30 degrees (360/12)?
|
I know some languages like PHP, C/C++ and Java but I'm not expert in these languages. I want to create an Artificial Intelligent Robot that can do these Task;
able to communicate with Computer (USB, Bluetooth or other)
able to perform some specific task
present a Visual interface (finding path, speed and others)
Acce... |
I'm trying to understand how an electronic musical instrument (called an e-chanter) works (imagine a recorder or other wind instrument, but with the holes replaced with metal contacts, and the sound played electronically, so no air is needed).
Basically, there are several metal contacts, as shown in this link: http://w... |
I am trying to derive the analytical Jacobian for a system that is essentially the equations of motion of a body (6 degrees of freedom) with gyro and accelerometer measurements.
This is part of an Extended Kalman Filter.
The system state is given by:
$
\mathbf{x} = \left(
\begin{array}{c}
\mathbf{q}\\
\mathbf{b_\omega}... |
I am a complete newbie and recently joined a robot team at my school in order to gain some experience. I have been assigned a task of driving a servo using a Pololu Mini Maestro USB Servo Controller. I am using the BeagleBone Black (BBB) with the Python adafruit library. How do I make the BBB communicate with the Servo... |
In my project, I've successfully analyzed the arena and have detected the obstacles using an overhead webcam. I also have computed the shortest path. The path data is transmitted to the robot via Zigbee, based on which it moves to its destination.
The problem is: My robot is not taking accurate turns which would cause ... |
Bosch, FreeScale, InvenSense, ST and maybe others are releasing 9-dof AHRS platforms containing their own fusion software and outputting filtered/sane/fused data (attitude as quaternion and linear acceleration).
I would like to use these for the quality of their respective company fusion algorithm. And would like to me... |
Currently I am building a robots with 2 incremental encoders with a optical mice sensor. The reason to install a optical mice sensor is to provide better feedback when slippage happen on the encoders.
I wonder if I could apply a kalman filter to get a better distance feedback with these 2 kinds of sensors? Especially w... |
Good day!
I am helping my little ones 6 and 7 to develop a robot that can pick up and stack cubes three high as well as gather blocks. They came up with the design that enables them to pick up three cubes at a time when lined up and then pull up the claw, turn, drive to another cube, place the cubes on the stand sti... |
As a non-native speaker I have a (maybe trivial, but to me not clear) question concerning the verb 'to teach'. Of course, from school (and online dictionaries) I know the past tense of 'teach' is 'taught' not 'teached'. But in robotics 'to teach' has a special meaning (like: 'to make special ponts/orientations known to... |
Any one can advice me on the ideal perception sensors for pick and place application using a robotic manipulator with ROS support. I have generally looked at things like Kinect and stereo cameras (Bumblebee2) which provide depth that can be used with PCL for object recognition and gripper positioning. Are there any oth... |
We are building a hobby drone(Quad-coptor) with a camera for footage. So to control the quad, i have been suggested(Web,Here) to use minimum of four channels.For power and for turning etc., So which means i need one channel for every separate task to be done. For eg., if i want to rotate the camera, then i suppose i ne... |
Though, Denavit-Hartenberg notation is commonly used to describe the kinematics of robot manipulator, some researcher prefer the product of exponential instead; and even the claim that it's better.
Which one should I use, and which one is generally better; is final solution same for both kinematics and dynamics?
Any su... |
The first time after importing a project into the Eclipse workspace we find that eclipse cannot find the WPILIBj.
On any import line:import edu.wpi.first.wpilibj.* Eclipse says "unresolved import edu.
|
In this picture, a sketch of a quadcopter is displayed with rotor's direction of motion. The magnitude of the rotational velocity is depicted by the thickness of the lines (thicker lines are higher velocity, thinner lines are lower velocity).
I'm told this is the correct way to produce turning motion, but my intuitio... |
I'm an electronics newbie.
The part I'm talking about is this:
DC 10-50v 12V 24V 48V 3000W 60A amps DC Motor Speed Control PWM HHO Controller
My question is, can this type of part be used to control brushless DC motors?
|
I'm new in forum and since I made some research the past days I'd like to get some guidance about constructing & programming a Quadcopter from scratch since I'm completely new on a project like that.
Quadcopter Frame: Thinking about to construct an aluminum 70cm diameter frame which will weight around 500g. What kind o... |
I am beginner in Robotics.I want to make serious start from scratch with interest but confused from where to start.So can anyone give some suggestions for 1.As a beginner in robotics ,are there some simple and basic robots or circuit
designs which I can make by myself in the home(so that I can gain practical knowledge ... |
I have recently been studying Kalman filters. I was wondering that if sensor model of a robot gives a unimodal Gaussian ( as is assumed for LKF) and the environment is pre-mapped, then the sensor reading can be completely trusted( ie. max value of Kalman gain), removing the need for odometry for localization or target ... |
In robot kinematics, we have $e^{(\theta*twist)}$, where $twist$ is 6*1 vector. How do I get the 4 by 4 transformation matrix by using product of exponentials?
|
I posted a similar question before as I was just getting started with the project but I wasn't specific enough so got a weak response from the SE community. But now I am at a point where I have Python code which is supposed to rotate a servo through Pololu's Maestro Serial servo controller (https://www.pololu.com/produ... |
What is the most common ZigBee IP Modules to create full wireless mesh mode?
I know that it should be 1) coordinator and 2) router to create full-mesh
But I am interesting about what kind of modules it would be better to buy by comparing price, quality and tutorial material. It would be graet if you know some ZigBee m... |
I am looking for cheap wheeled robot that can be controlled remotely. I do not really care about how (RF, Bluetooth, WiFi, IR, other?), as long as I can control around 10 robots without interference in a small arena (they are always in the line of sight).
I would like to emphasize that I do not need them to be programm... |
I have been asked to write code to implement serial communications with a camera in order to control its pedestal (movable base) as well as set a few dozen other camera options. The catch is that I have to make it usable by ROS.
What would be the best practice to implement this functionality in ROS? I understand the ... |
Note: I'm a firmware developer experienced with sensors and networks, but not much with motors.
I am trying to build a small hobby robot, like a cat-sized spider. I am thinking of using servo motors with position control, so I don't have to use encoders to know where the motor is. Assuming six legs (I know, spiders hav... |
I would like to control my 7 DOF robot arm to move along a Cartesian trajectory in the world frame. I can do this just fine for translation, but I am struggling on how to implement something similar for rotation. So far, all my attempts seem to go unstable.
The trajectory is described as a translational and rotatio... |
I'm wondering about good software/package to draw the robot manipulator and indicate DH parameters and different axes?
Any suggestions!
|
A professor in my university is asking me to study robotics with him. By robotics I understand programming a robot to move around, avoid obstacles, figure out a maze, etc.. He sent me some manuals for Khepera II.
When I first read the specs, I was surprised by the low specs:
Motorola 68331 CPU @ 25 MHz
512 KB RAM
512... |
I am looking for sensors to give me the position of a ball on a plate in order to make a ball and plate problem .
What came to my mind is to use image processing but since i never did some serious image processing i don't know if it is a good idea.
Eventually can you please help me to find some 'cheap' sensors in or... |
here is what I did on Ubuntu 14.04 LTS running on a Toshiba Satellite, intel i7, nvidia with usb 3.0 and 2.0 ports.
1, 2, 3 refer to scripts found here
Setup ros by running this install-ros.sh script
Setup opencv by running this install-opencv.sh script
Setup PCL by running this install-pcl.sh script
Installed libfre... |
I have implemented 2D-SLAM using EKF. The map is based-feature in which there is only one landmark for the sake of simplicity. I've read some papers regarding this matter. They plot the $\pm3\sigma$ plus the error. I would like to make sure that I'm doing the right thing. In my project, I have the estimate of the landm... |
It is possible to distinguish the properties "time-varying" and "nonautonomous" in dynamical systems regarding Lyapunov stability analysis?
Does it make a difference if the system depends explicitly on $t$ or indirectly on $t$ due to a time-varying parameter?
I want to explain the problem in detail:
Let a dynamical sys... |
Is there a way to make a quadcopter maintain steady hovering (no lateral movement, constant altitude) while tilted left or right? If so, how can i accomplish this?
|
I want to build a automatic agricultural robot for my final year diploma project. The basic idea is to program 8051 to drive the robot in a fixed path in farm for ploughing the farm which i am planning to do by setting a particular distance till which it will go straight and then take a U turn and plough in next lane. ... |
Consider a tank like robot with a motor driver channel for each side of the robot (two motors on the left and two motors on the right) and an IMU.
I'm interested in driving the robot in a straight line using the yaw data from the gyro and magnetometer of the IMU, removing the noise caused by slightly different behaving... |
I'm a beginner in Robotics.
I'd like to ask what are the minimum/recommended specs for a microcontroller to run a real-time system such as Linux RTAI?
What is the popular microcontroller for running Linux RTAI?
Thank you.
|
With the bee hive collapses, growers are desperate for pollenation options. Is anyone working on swarms of tiny flying robots to augment the bees? They could look for a certain color, poke around inside the flower for a moment, and move on to the next. When they need recharging, they fly back to their hive (the same re... |
How a ROS node written in Python could subscribe to multiple topics and publish to multiple topics?
All examples I found were for a single topic. Is this an event-driven model so subscription to multiple "events" is allowed or it is more like a loop, so it can listen only to one "source" at a time?
|
I have equations of a dynamic system. I need to figure out what this physical system is.
The equations are:
\begin{align}
\dot{x}_1&=bx_1+kx_2+x_3\\
\dot{x}_2&=x_1\\
\dot{x}_3&=\alpha (u-x_2)-\beta x_3
\end{align}
All I can figure out is that it is maybe a mass-spring-damper system, plus a feedback control, but I am n... |
I was watching Sebastian Thrun's video course on AI for robotics (freely available on udacity.com). In his final chapter on GraphSLAM, he illustrates how to setup the system of equations for the mean path locations $x_i$ and landmark locations $L_j$.
To setup the matrix system, he imposes each robot motion and landmar... |
I have been using the FreeIMU library successfully but now I want to add an external magnetometer that I can mount away from my motors.
I've figured out how to modify the FreeIMU library to use an external magnetometer and I am getting data.
What I can't figure out is what I need to change now that my magnetometer orie... |
I'm a software researcher, who in my spare time mentors a robotics team, helping on the software side of things. For years, I keep coming back to the same question: How to determine the robots position, and heading during our competitions? We have tried a number of things with varying degrees of success/failure. Encode... |
I'm planning to build an omnidirectional platform that will support about 180kg robotic arm. The platform will be equipped in meccanum wheels. I would like to have some kind of suspension to avoid wheels loosing contact with the floor on small bumps (let's say 2cm).
The first suspension type I thought about was rocker... |
I've a 2D sensor which provides a range $r$ and a bearing $\phi$ to a landmark. In my 2D EKF-SLAM simulation, the sensor has the following specifications
$$
\sigma_{r} = 0.01 \text{m} \ \ ,\sigma_{\phi} = 0.5 \ \text{deg}
$$
The location of the landmark in x-axis is 30. EKF imposes the Gaussian noise, therefore the l... |
Most academic papers characterise the rate of rotation along the x axis as φ"=(1/Jx)τφ. As far as I cant tell, this characterises the rate and not the actual angle φ itself and yet the PID controllers academics use to control this takes φsetpoint-φmeasured as its error signal. Should the error signal not be φ"setpoint-... |
I salvaged some parts off my dead Roomba 650, and I'm trying to use the drive motor assembly . I got the pinout of the connector but I don't know what voltage / PWM / other specifications are there for this motor.
I've attached the picture of the drive motor assembly.
Any help would be appreciated!
Thank you,
Pratik
... |
Can anyone help me, because I am doing a project on robotical surgeries and I would like someone to help me and advise me. I wonder if anyone could give me some data on tests he or she has run in a surgical robot... Thank you for your attention!
Anything else will be much appreciated!
|
What are the major differences between motion planning and trajectory generation in robotics? Can the terms be used interchangeably?
|
I have the create 2 and have it hooked up to an arduino. Almost all the commands work fine except when retrieving sensor information. If i send a request for packet 18 I get back values that while consistent don't match up, unless I am missing something. So if I press the clean button I get 127 or 11111110 and if i the... |
The links twist could be obtained, and thus The spatial manipulator Jacobian could be done, but when it comes to the body Jacobian, it is becomes difficult. Moreover, the adjoint transformation relates both Jacobain, but however that is 4*4 while the Jacobian is 6*n; how does it works? as in the picture, he is getting ... |
Currently I am building a omnidirectional robot with 4 DC Motors with embedded incremental encoder.
However, with a constant pwm input, i am not able to control the motor to rotate in a "relatively stable" state, refer to the figure, it can be observed that the linear speed of the motors can varied in 10cm/s range. I b... |
How do you stream video feed from a camera on a drone? I would think that at high altitudes Wi-Fi won't work.
So what would you usually do, and how?
|
How do you select the following two angles in the design of a Rocker bogie system:
Angle between two arms of the main rocker, and;
Angle between two arms in the bogie.
|
I'm looking for ways to detect human presense behind walls in close proximity (around 10 feet) in whatever way possible! Problem is I can't code! (I hope it's ok I'm posting here.)
I know there are different sensors but they all seem to be for detecting by motion of target humans.
How do you detect still persons?
Is ... |
I'm constructing a 2 wheels balancing robot which uses a PID controller. I've tuned my parameters on numerical simulations based on a continuous inverted pendulum system so that the simulated inverted pendulum balances by controlling the horizontal (linear) cart acceleration $\ddot{x}$.
Now that I've done this, I want... |
I need a computer on the board like raspberry pi for vending machine (I want to replace the original controller). This is list of some requirements:
1) It should have pins to connect to the mdb protocol & other stuff through gpio.
2) Good performance. There will be a display with browser showing rails application runni... |
There is always a way to do this using arduino, rasberry pi etc. However, in many cases in discussion in forums i've come across things where whole 'logic' can be uploaded to $0.50 chip. Instead of $50 dollar part. DRASTIC change. This defines a line between a one time thing that you made as a hobby, and something you... |
I am a total newbie in robotics so please bare with me.
I have a school project where my team has to design a robot that is capable of picking up 3 golf balls in different sizes at predefined locations. Then it has to drop these balls into their respective holes.
We are using an arduino chip in our robot.
I thought ... |
I am attempting to build a Raspberry Pi based quadcopter. So far I have succeeded in interfacing with all the hardware, and I have written a PID controller that is fairly stable at low throttle. The problem is that at higher throttle the quadcopter starts thrashing and jerking. I have not even been able to get it off t... |
I and my team have to design a robot using an arduino chip. The objective of the robot is to grab golf balls at a set of golf pins at different heights and pre-defined locations. We couldn't figure out a possible mechanism that could collect the balls and drop them into the trailer except for a robot arm. However, we d... |
I'm developing a stabilisation system for an 'off-the-shelf' quadcopter by using an Arduino Mega and an IMU. The IMU is reading the angle of the quad, calculating motor commands by using a PID controller and applying them to the motors. It works well when constrained in a test bed, however in reality, although the quad... |
We have an epilog laser cutter around here and I was wondering if it would possibly work as a base for a 3d printer? Here is a Dropbox photo album of the laser cutter. I am thinking I will have to get a new control system but I am unsure if I will be able to use the motor controllers or if they are embedded in the curr... |
I'm trying to understand how to obtain the Kp, Ki, Kd values after finding a combination of K and a that works for me. Do I just expand the equation and take the coefficients?
|
I am a newbie in Robotics. As far as I know, there're generally two ways to acquire depth information of a scene. One is the stereo vision method which applies two cameras. The other is the RGBD sensors such as Kinect and Primesense. It seems that both methods are in use currently. However, I do not know what are their... |
I'm building a submersible ROV, so I need a way to navigate. So using a compass would help but this brings up the question, does an electronic compass work underwater?
My thoughts are the water might act as a faraday cage, and therefore interfere with the magnetic field. Therefore it might not even work. Maybe a gyrosc... |
I'm working on the dynamics model of a RRRR articulated robot, I'm following Euler-Lagrange approach and developing my code in m-file in matlab; I'm looking for dynamic model of this form: $$
D(q) \ddot{q} + C(q,\dot{q})\dot{q}+ g(q) = \tau
$$
where $D$ and $C$ are $4 \times4$ matrices and $g$ and $\tau$ (torque) are $... |
I'm currently calibrating the MPU6050 chip using an arduino mega 2560. I am using the J Rowberg 12c dev libraries. I can get it to print raw accelerometer and gyroscpe values (very unstable, wildly changing values). In the digital motion processing chip library, I can get it to print euler angles, quaternions, real wor... |
my question is general so please bear with me. I'm now interested in buying a quadcopter and develop some functions that it does for example an android app to control it, or objects detection.
So my question is what are the available quadcopters which has a software that allows me to do such things not just a flying t... |
I have to measure the frequency of a little circle in rotation. You can image this circle flying in air, because this circle can't touch anything that is not in rotation. So I can't use some simple trick to count the number of complete rotation in an amount of time.
So I supposed my only chance was to use an accelerome... |
I am currently doing a project for school and we are told that we must use a micro controller that ends up controlling some external hardware, now i know the crazyflie is controlling the motors which counts as external hardware but is it a micro controller? My second question is i want to purchase the kit so i can asse... |
I'm very passionate about robots from my childhood.I'm a java developer.
I love sci-fi movies.I have a little bit knowledge in embedded systems and electronics.
My ambition is to build a robot like Jarvis (In Iron Man Movie).Which is a voice controlled robot.I would like to implement that in my house as a home automati... |
I'm trying to send some commands to the Roomba. However is behaving strange.
This is the manual that I'm using.
http://www.irobot.com/~/media/MainSite/PDFs/About/STEM/Create/create_2_Open_Interface_Spec.pdf
First of all. I have consulted several manuals, some of them say that the default baudrate is 115200, however it... |
Look at this robot here http://www.meccanotec.com/step781b.JPG
I can see rods which have a lot of holes and planes which also have holes. This seems to be a way to create flexibility in how the things are connected together to create the final robot. Is there a name for this type of equipment, metals with holes. Where ... |
I am talking about robots like this one: http://www.meccanotec.com/step781b.JPG
How would a person know what type of motor to use in design of such a robot? What I want to understand is that stepper motors have different step sizes, different torques among other things. How do we determine what type of stepper motor is... |
I want to make a robotic workshop.. I recruited 10 members to work... Please give some tips about robotic workshop
|
I recently got a LYNX Biped Scout and found that it is really hard to actually come up with a working "Gait" or walking pattern.
Making a servo move is easy, that's not the problem, I previously built a robotic arm from scratch (I have pictures if anyone is interested) and that one can be controlled via Arduino and a ... |
I have a inverted inertia wheel pendulum.
I suppose that if I have a wheel with larger inertia at its top, the system would be more stable.
How can I prove or disprove my conjecture?
|
I was studying the basics of legged locomotion and came across the unilateral force and torque constraints at the foot-ground interface.
I understood the implication of the unilateral constraint on the force ( the ground can only push the foot but not pull it) but I am unable to understand what does the unilateral torq... |
I am using an Arduino Mega with an MPU6050. I can get gyroscopic data as well as euler angles. The problem is my gyro data keeps going back and forth between 0 and -1 despite me not moving it at all (it stays on -1 the most). What can I do to filter what I assume is noise? I am going to use the gyro data for a quadcopt... |
I am building a humanoid robot with DC motor actuated fingers. There are 16 brushed DC motors to be position controlled with help of hall effect sensors implanted at the joints of each fingers. I need a developed driver board to control these 16, 3 watt, 12 v,DC motors.
Also each motor is equipped with an incremental e... |
Basic question concerning sensor fusion:
A standard 10 DoF IMU, I mean this cheap things for the tinkerer at home, provides 10 values:
3 Accelerometers
3 Gyroscope
3 Magnetic Field Measurements
1 Pressure sensor (+ 1 Temperature)
I know that the accel-data provide long term stability, but are useless for short term an... |
I emphasize that my question is about sampling, not resampling.
I'm reading the Probabilistic Robotics book by Thrun et al, Chapter 4 on Non-Parametric Filters. The section on Particle filters has an algorithm which states that for each particle index $m$ (see line 4):
sample $x_t^{[m]} \sim p(x_t|u_t,x_{t-1}^{[m]... |
Using the SCI messages, I would like to determine the current operating mode or state of a iRobot Roomba 780. Finally, I would like to detect and separate four states:
Cleaning
In docking station
Returning to docking station
Error (e.g. trapped on obstacle)
What is a fast and reliable way to detect those states usin... |
Suppose I have a mechanical system which is free to move on a given rail [-5m, 5m] like a motorized cart. The whole system can be mathematically expressed through a linear timeinvariant system equations.
If I need to control only the position (for example saying the controller: "move to +2.3") I can simply design a PID... |
Is it possible to remote control a 'robot' relative to the driver with an angle sensor (or any other sensor)? For example, if the robot starts in this position
--------------
| Front |
| -------- |
| |________| | [robot]
| Back |
--------------
and the joystick is in this configuration
--------------... |
So I was making sure my circuit for an airboat I was working on was safe. And checking a motor, it has 35 amps max current running 11.1v at 1000. (However my ESC has a 30 current, 40 burst amps).
The recommended tested prop for this is a 11x9 3-blade and runs the motor at 20 amps. Doing some quick calculations via on ... |
I want to design a data logger for my quadcopter using the Arduino Mega board. I want to record the roll, pitch and yaw angles each second or 5 seconds, so they can be viewed later after a flight has ended. There's just one thing I don't understand, and that's how to translate the pitch/roll/yaw angles into a pulse of ... |
How could I tune the above PIV controller? I am trying to get the system to have a settling time of < 1 second, P.O < 15% and zero steady state error.
|
i'm working on a building a rover and would like some advice on selecting motors. In particular, i want to understand the difference between precision and planetary gear motors. My robot will way about 10-15lbs i think and would like it to be responsive and quick. I have two sabertooth 2x12 motor controllers (which ca... |
There are several robotics datasets for SLAM, like this one.
In this webpage you can see that the depth image is scaled by a factor of 5000, so that float depth images can be stored in 16 bit png files:
The depth images are scaled by a factor of 5000, i.e., a pixel value of 5000
in the depth image corresponds to a dist... |
I am trying to program the create2 irobot using python. there is a script called openinterface.py. where can I download this script?
|
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