Robotics Stack Exchange
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1500 questions
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2 answers

Good method for Retuning a PID After Detecting Oscillation

Given a PID controller with an anti-windup, what are some practical ways to retune the controller once oscillation has been caused and detected? I have access to the magnitude and period of the oscillation. I don't want to use the Ziegler-Nichols…
Kousha
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Can I use IMUs to improve the position/posture measurement of fingers in a "data glove"?

I have been using the Cyberglove to control a humanoid robot hand, but found it disappointing as it doesn't measure the posture of the human hand very accurately. I have been wondering about the possibility of using Inertial Measurement Units…
Rocketmagnet
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Robot interaction language

Is there any well documented robot interaction language? I would imagine something like taking a user's speech in English, parsing it using some natural language processing like NLTK or Stanford NLP and then building a new sentence understandable by…
Mehdi
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Up to what force is a servo motor a reasonable choice as an actuator?

I'm working on an application where I need to apply a linear or angular force to operate a linkage mechanism, but I don't (yet) know what amount of force I will need. I anticipate that it will be less than 4.5 kg (44 N). The travel distance on the…
JYelton
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IPC-Bridge problem

Is anyone able to help me out getting IPC-bridge working on my ubuntu lucid installation (with matlab 2012a)? I'm not being able to finish the last step on here (Compiling the messages folders):…
nVolteX
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Inverse Kinematics of Parallel Manipulator (Delta Robot)

Let me start off by saying that I am currently going to university majoring in computer engineering. I love software/hardware and I especially love robotics and I want to apply my knowledge of software/hardware in robots. I have never taken a…
jrcatbagan
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Velocity Model Motion in Matlab (Probabilistic Robotics)

I want to implement the velocity motion model in Matlab. According to Probabilistic Robotics page 124, the model is as following \begin{align*} \hat{v} &= v + sample(\alpha_{1} v^{2} + \alpha_{2} w^{2}) \\ \hat{w} &= w + sample(\alpha_{3}…
CroCo
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Controlling a system with delayed measurements

Assume I have a rather simple system I want to control, but all sensor measurements exhibit considerable time delay, i.e.: $z_t = h(x_{(t-d)}) \neq h(x_t)$ With my limited knowledge about control, I could imagine the following setup: One observer…
sebsch
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How to request a specific Mavlink packet from Ardupilot?

I'm developing a program for communicating with Ardupilot using Mavlink. I've generated code based on the Mavlink definition for Ardupilot, and I have the basic communication working. What I can't figure out, is how to request Ardupilot to send a…
Håkon K. Olafsen
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world files for simulating roads and tracks

Hello I wanted to simulate a busy urban road,similar to Darpa Urban Challenge for an autonomous self-driving-car. I'm in search of simulators for that. I've seen gazebo since its integration with ROS is easier but editing world files or indeed…
Dpp_coder
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Quadcopter PID output

I'm trying to develop a control system to a quadcopter and one of my options is to use a PID controller (which I think is the most used method). From what I've read, the commom strategy is to run a PID algorithm to each axis. My question is: how the…
FELIPE_RIBAS
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Controlling digital servos

Many websites say that analog servo motors work on 50Hz and digital servo motors work on 300Hz. My question is, does this difference apply only to the inner control loop of the servo or does the user of the digital servo actually provide 300Hz PWM…
Damjan Dakic
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Grasshopper effect on a quadcopter with kk2.1.5

We have builded a quadcopter that use the flight manager kk2.1.5 with the latest firmware. When we increase the throttle, it flight. When we keep the hand on the stick we are able to maintain it but when we don't touch to the throttle, it goes up…
Dougui
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Solutions for Finding Position and Heading in a Multi-Level House

I was wondering if you could reccomend possible solutions for locating a robot within a multilevel house. What seems obvious to me is that need an altitude sensor to derive the story the robot, and a compass sensor to derive the heading. However I…
nanogru
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Low-cost servo with digital control interfaces?

Some years ago, there where some projects that provided hardware and software to perform modifications on standard hobby servos to convert them to digital servos, with all the advantages that come with it. OpenServo is a little outdated, and does…
Jakob
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