Robotics Stack Exchange
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1500 questions
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3 answers

Kuka KR16L-2 robot simulation base and wrist rotation inconsistent with original robot

The issue is regarding simulation of Kuka robot KR16L6-2 in MATLAB using Robotics toolkit by Peter Corke. I wish to simulate the kinematic before passing a command to real robot for motion. I have attached the DH-Parameters. Apart from this I have…
ihti
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Quadcopter refuses to fly when the Yaw PID component is added

Good day, I would like to ask why is it that when I add the Yaw control to my PID controller for each motor. The quadcopter refuses to take off or maintain its altitude. I am curently using a Cascaded PID controller for attitude hold using an…
user123456098
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inverse kinematics for 6 jointed robots

I am a uncertain about how to compute the right homogeneous transformation matrix to compute an inverse kinematic Q-configuration. Looking at robot like this Where at the end of this robot I have a camera mounted on to it. The purpose of my…
James potter
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Anthropomorphic Arm

I developed an anthropomorphic arm (structure in aluminium) with 6 DOF (3 plus spherical wrist) for direct kinematic. I chose magnetic rotary encoders to measure angles but I am not satisfied, due to them causing noise on angle measurements. What…
diego
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Quadrocopter PID

I am building a quadcopter for my school project. I am trying to program my own flight controller using PID algorithm. I'll try to make my question simple using as an example below only two motors 1-----------2 Let's say I am…
user5309974
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If I must fly my drone in bad weather, how can I maintain control of it in strong winds?

If I need to fly a drone in strong winds, how can I stabilize it? Should I use accelerometers and gyroscopes to keep it steady? Or should I just use some flight technique under such circumstances?
tox123
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Lateral load on a servo motor

Looking at pictures of existing designs for quadropod robots, the servos in the legs seem to usually be mounted inside the chassis, with a second attachment at back of the servo as well, such as this: rather than putting what looks like an…
Jimmy
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4
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Direct vs semi-direct methods for visual inertial odometry

I was reading these papers on visual inertial odometry from IROS 15: Semi-Direct EKF-based Monocular Visual-Inertial Odometry Robust Visual Inertial Odometry Using a Direct EKF-Based Approach I would appreciate if someone could explain how…
rookie
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simulation of robots

I am designing a new mechanism similar to robot arm. It would be a 6 or 7 axis with arms but not the same with traditional articulated arms. As a result, new DH matrix,and inverse kinematics involve. I would like to consult the robot professionals…
Superuser
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Evaluating the similarity of two 7 Degree of Freedom Arms

I am working on the Baxter robot where I have a first arm configuration and a bunch of other arm configurations, where I want to find the closest arm configuration to the first among the many other arm configurations. The trick here is that the end…
Iche
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3 answers

Plotting location using wheel encoder data

Context: I am working with the SFU Mountain Dataset [http://autonomylab.org/sfu-mountain-dataset/] The UGV image - via the SFU Mountain Dataset website: I have used the following state update equations (Husky A200 - differential drive) State Update…
AKag
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Check collision between robot and environment in OpenRAVE

I have a robot arm in an environment. How can I check for collision between this robot arm and the environment?
vacky
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How is homotopy used in planning algorithms?

What is an intuitive understanding for homotopy? At what stage is homotopy (I understand it as stretching or bending of path) in a planning algorithm? Is homotopy involved, for example, while implementing an algorithm like RRT?
boon
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Finding Center of Mass for Humanoid Robot

I've been working on Humanoid Robot, and I face the problem of finding the Center of Mass of the Robot which will help in balancing the biped. Although COM has a very simple definition, I'm unable to find a simple solution to my problem. My view: I…
Bilal Wasim
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iRobot Create 2/Roomba 530 Screw size/thread?

I've looked everywhere I can think of to find this information, but haven't come across anything. Does anyone know what kind of screws I can use to replace the ones on top of my Roomba 530? I realize that the Create 2 is technically a 600 series,…
aeiche
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