Robotics Stack Exchange
Robotics Stack Exchange

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Python libraries for image processing and feedback control on raspberry pi

I'm building a motion detection and object recognition camera with feedback control for a hexy robot. Fortunately most of the servo control is handled by the analog servo controls and the high-level logic can be implemented in python on a raspberry…
hobs
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Multiple robots in ROS Gazebo SITL with separate MAVlink/MAVproxy codes

Background: This question is about simulating one ErleCopter and one ErleRover simultaneously for a non-commercial research. I would like to have the quadcopter follow a rover, which in turn is to be tasked with following a line. I am trying to…
Prasad Raghavendra
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Assigning Frames and Deriving Link Parameters

The textbook I'm using doesn't have the answers to the practice questions, so I'm not sure how I'm doing. Are the following DH parameters correct given the frames I assigned? The original question is as follows: The arm with 3DOF shown below is like…
Grace
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Stabilizing a Robot Arm at a Specified Height

I have a 4-bar linkage arm (or similar design) for a telerobot used in the VEX Robotics Competition. I want to be able to press buttons on my PS3-style controller to have the arm raise to certain angles. I have a potentiometer to measure the…
apnorton
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How do I measure the distance that a cord (string) has moved?

For a pet project, I am trying to fly a kite using my computer. I need to measure how far a cord extends from a device. I also need to somehow read out the results on my computer. So I need to connect this to my pc, preferably using something…
kramer65
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How do monocular visual odometry algorithms work?

What is the core principle of a monocular visual odometry algorithm? I mean, after calibrating a single camera (undistortion etc.) images are fed into an algorithm - what exactly does this algorithm do with the images in order to get the…
Kozuch
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What is a good approach for outlier rejection during real time data filtering?

I'm trying to finish up a localization pipeline, and the last module I need is a filtering framework for my pose estimates. While a Kalman filter is probably the most popular option, I'm using cameras for my sensing and I wouldn't be able to ensure…
HighVoltage
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Forward and Revers Kinematics For Modified Hanging Plotter

I'm building a modified version of the standard hanging plotter (v-plotter). The basic idea is that you have two cables hanging from stepper motors which form a triangle supporting the pen at the tip. My design the strings anchored at points $C$…
Bar Smith
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LIDAR Points as Landmarks

I am currently trying to implement a GraphSLAM/SAM algorithm for LIDAR. From papers I've read, you generate a directed graph from expected LIDAR measurements to landmarks similar to the image below (taken from the Square Root SLAM Paper by…
d.mc2
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Is it possible to interface android mobile as GSM and GPS module with arduino based robotic applications?

I want to built a robot and i need bunch of modules to track it like GSM/GPS Wifi and Camera If i try to buy each of module separately it will cost me 300 dollar each aprox in Pakistan. On the other hand an android enable phone can be purchased on…
Abdul Rehman
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Need help regarding development of Extended Kalman Filter for sensor-data fusion of odometry and IMU data

I'm trying to develop an Extended Kalman Filter (EKF) for the positioning of a wheeled vehicle. I have a 'Baron' robot frame with 4 static wheels, all driven by a motor. On the 2 rear wheels I have an encoder. I want to fuse this odometry data with…
Eva
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PID with position and velocity goal?

I'm trying to design a control system for a robot that tracks moving object. Thus I want to robot to match the position and velocity state of the object. I don't want robot to simply to arrive at the position, but I want to arrive at the position…
fairuse
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Taylor Series expansion for EKF

In Probablistic Robotics by S. Thrun, in the first section on the Extended Kalman Filter, it talks about linearizing the process and observation models using first order Taylor expansion. Equation 3.51 states: $g(u_t,x_{t-1}) \approx…
munk
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Controlling the Power of a Solenoid

I am trying to control the force of a solenoid. My current system has a bank of capacitors connected to a relay. In order to control the force (how hard I am trying to hit the object) I am increasing or decreasing the the time the relay is on. The…
user2095599
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Conventional Land Vehicle Dynamic Models for GPS/INS augmentation

I am looking to augment a GPS/INS solution with a conventional land vehicle (car-like) model. That is, front-wheel steered, rear wheels passive on an axle. I don't have access to odometry or wheel angle sensors. I am aware of the Bicycle Model…
Damien
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