Robotics Stack Exchange
Robotics Stack Exchange

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1500 questions
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votes
3 answers

Which joints to discretize for IK

I am using ikfast in OpenRave for my inverse kinematics. This is an analytical solver, so if your robot's DOF matches the IK type's DOF, then you get all possible solutions. But if your robot has more DOFs, then you need to pick some joints to…
Ben
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Electric Motor Speed Control - PWM vs analog voltage?

I'm working on a 2-wheeled robot and have connected up a raspberry pi to an L298N motor driver. I'm sending the enable pin of a particular motor a software-generated PWM signal at 100Hz with a 50% duty cycle. I observe with an osciloscope: a…
Andrew Tomazos
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Modeling a robot to find its position

The task of the robot is as follows. My robot should catch another robot in the arena, which is trying to escape. The exact position of that robot is sent to my robot at 5Hz. Other than that I can use sonsor to identify that robot. Is that possible…
Ramesh-X
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2 answers

Navigating through a Maze using path-planning (Dijkstra)

I'm working on an robot that would be able to navigate through a maze, avoid obstacles and identify some of the objects in it. I have a monochromatic bitmap of the maze, that is supposed to be used in the robot navigation. Up till now I have…
Muhammad Faique Shakeel
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Is it possible to simulate vision (perception) in Gazebo (or other simulators)

Vision is important part of robotics and frequently it is unavoidable component of control loop. E.g. many clothes/garment handling algorithms rely on visual cues in deciding how to proceed. The question is - does simulation environments (Gazebo or…
TomR
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2 answers

Prototyping with IRobot roomba

For a project I am building a Tele-Op Robot using the IRobot's Roomba as my drivetrain. In order for my robot to work, I need an extra castor. IRobot provides .stl and .stp files for me to use and I used them and printed the files. (The file I…
Harmonica
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3 answers

Degree of Freedom

A robotic arm should pick a cuboid up of a table, rotate it around its vertical axis and put it down on all possible positions. How many degrees of freedom are at least necessary? (All coordinates, that should be reached by the robotic arm, are in…
Cindy
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ROS Calibration Camera Problems

I am trying to calibrate a monocular camera using ROS with the help of this website: How to Calibrate a Monocular Camera. When I run rostopic list, I get: /left /right /rosout /rosout_agg /usb_cam/image When I run rosservice list, I…
K S
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How to use a POMDP-based planner on top of a probabilistic filter

POMDPs extend MDPs by conceiling state and adding an observation model. A POMDP controller processes either action/observation histories or a bayesian belief state, computed from the observations (belief-MDP transformation) In a complex,…
ziggystar
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3 answers

KUKA Robotics API IDE

I've got Robotics API library, a demo program and a robot. I want to develop an app for it. The best solution is offline development on some kind of simulator. I'm completely new in such tasks - is there any IDE for this? Or a way do deliver…
Nikita Semenov
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Sensors' field of view in car driving

I want to develop an autonomous driving RC car. For detecting obstacles, I plan to mount 3-5 ultrasonic sensors in the front and in the back the car. What is the minimum necessary combined field of view of the sensors so the car never hits an…
Daniel
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Structuring EKF to estimate pose and velocity with odometry inputs

I have a differential drive robot for which I'm building an EKF localization system. I would like to be able to estimate the state of the robot $\left[ x, y, \theta, v, \omega \right]$ where $x, y, \theta$ represent the pose of the robot in global…
rcv
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4
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How do safety cages around quadcopter rotors/blades affect lift capabilities?

I am interested in building a quadcopter from scratch. Because I like to err on the side of caution, I'm considering adding "safety cages" around each propeller/rotor, to hopefully prevent (at least minimize) the chance of the spinning rotor blades…
smeeb
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4
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Fast C++ library for stereo vision/disparity computation

I am looking for a library for disparity map / stereo vision computation. These are my requirements: C++ Multi-platform (Linux, Windows, OSX) (preferrable but not mandatory) not CUDA based Suited for robotics (e.g. it should work even if the images…
alecive
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Underwater ROV Variable Ballast

How would you guys recommend making a variable ballast system for an underwater robot? I was thinking about this problem earlier and I was trying to figure out if there was a way to make one that didn't require a tank of compressed air.
CA ROV
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