Robotics Stack Exchange
Robotics Stack Exchange

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1500 questions
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using a device with os instead of microcontrollers

Im working on a robot that needs image processing to analyze data recieves from cameras. As i searched for ARM and AVR libraries i found that there is no dip library for these micros and their limited ram is hard for image data process. i want to…
virtouso
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KUKA FRI program using JAVA

I am trying to establish the FRI connection for KUKA LBR iiwa. I know how to configure the FRI connection as there are example programs available in the Sunrise.Workbench. A sample code is given below. My question is 'how to pass' the joint torque…
MMD
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Relation between pole placement and marginal stability?

I'm given an assignment in which I have to design a full state feedback controller by pole placement. The state space system is fully controllable and I've been using Matlab/Simulink to determine the required feedback gain K using the place()…
Steven
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Filtering IMU angle discontinuities

I try to measure Euler angles from an IMU, but some discontinuities happens during measurement, even in vibrationless environment, as shown in the images below. Can someone explain which type of filter will be the best choice to filter this type…
lsn
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2 answers

What is the required theory behind building a robotic arm?

I am currently planning on building a robotic arm. The arm's specs are as follows: 3 'arms' with two servos each (to move the next arm) single servo clamp mounted on revolving turntable turntable rotated by stepper motor turntable mounted on…
Forrest4096
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ROS MoveIt!, virtual joints, planar joints, prismatic joints

I do have a robotic application, where a 7Dof robot arm is mounted on a omnidirectional mobile platform. My overall goal is to get MoveIt! to calculate a sequence of joint movements, such that the robot EEF reaches a desired goal in Cartesian…
Flo Ryan
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EKF-SLAM: Shrink covariance matrix on one direction

I have implemented an EKF on a mobile robot (x,y,theta coordinates), but now I've a problem. When I detect a landmark, I would like to correct my estimate only on a defined direction. As an example, if my robot is travelling on the plane, and meets…
charles
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What is the difference between a CNC router versus a CNC mill?

People at the RepRap 3d-printing project often mention CNC routers or CNC mills. Both kinds of machines almost always have a motorized spindle with stepper motors to move the spindle in the X, Y, and Z directions. What is the difference between a…
David Cary
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Robot arm reachability of a pose in Cartesian space

Given a set of robot joint angles (i.e. 7DoF) $\textbf{q} = [q_1, ... , q_n]$ one can calculate the resulting end-effector pose (denoted as $\textbf{x}_\text{EEF}$), using the foward kinematic map. Let's consider the vice-versa problem now,…
Flo Ryan
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Should a MG996R Servo's extreme position change over time?

This question is a follow on from my previous question, Overheating/Jamming MG996 servo. I have recently purchased my first ever servo, a cheap unbranded Chinese MG996R servo, for £3.20 on eBay. After mounting the servo horn and the bracket, I…
Greenonline
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Overheating/Jamming MG996R servo

I have recently purchased my first ever servo, a cheap unbranded Chinese MG996R servo, for £3.20 on eBay. I am using it in conjunction with a Arduino Servo shield (see below): As soon as it arrived, before even plugging it in, I unscrewed the back…
Greenonline
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Is it safe to give 5v through 5v pin of arduino uno r3 while usb cable inserted

Is it safe to give 5v through 5v pin of arduino uno r3 while the USB cable is inserted? I have ESCs connected to it which aren't likely to start in other cases. The 5v and gnd is coming from the BEC circuit of a connected ESC. Please help me. Thanks
Bilal Ayub
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Wifi module for Zumo robot

I'm a CS student trying to implement a clustering algorithm that would work for a set of robots in an indoor controlled environment. I'm still starting on Robotics and don't have much experiencing in figuring out what will work together. My plan is…
dev_nut
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Optimal-time acceleration sequence of a line-following robot following a moving obstacle

Say we have a line-following robot that has a moving obstacle in front, that is a one-dimensional problem. The moving obstacle is defined by its initial state and a sequence of (longitudinal) acceleration changes (the acceleration function is…
user1225999
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How to use the Homogeneous transformation matrix?

I am trying to understand how to use, what it requires compute the homogenous transformation matrix. I know 2 points from 2 different frames, and 2 origins from their corresponding frames. I how transformation matrix looks like, but whats…
Carlton Banks
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