Robotics Stack Exchange
Robotics Stack Exchange

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Radio triangulation with Raspberry Pi

Currently, I am thinking that since electromagnetic waves loose energy over distance, you might be able to figure out the relative distance to each of three radio "beacons" and use this information to triangulate the position of a Raspberry Pi robot…
Tiskolin
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Which is a good and cheap 3D LIDAR or other options?

Our team is planning to go for European Rover Challenge (ERC) 2018 for which we are designing an Autonomous rover. In order to implement SLAM, we need a way of mapping (with a range of atleast 2-4 meters) for which we considered using a LIDAR or a…
Abhishek Dinesan
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KF/ EKF - Modelling and tuning noise matrices and other parameters

I am developing C++ code to estimate roll and pitch of a camera using accelerometer and gyroscope. The roll, pitch and yaw are in my state space ($X_t$) and the process is modeled as: $\bar{X_t} = X_{t-1} + Eu$ Here $u$ is a vector of gyro rates in…
skr
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How can I simulate a changing environment with non-rigid objects?

Many robot applications (actually - the most practical and appealing ones) include the robot's reaction to (and impact on) the evironment, e.g. due to stochastic nature of the environment (e.g. when robot should handle non-rigid objects like…
TomR
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How to properly initialize every new pose in a Visual SLAM algorithm (namely DSO)?

My question is a bit specific, because it is linked to a certain algorithm. Therefore I didn't find any other solutions on how to go about this problem. If you could refer me to research papers, instructions or anything similar which is already…
BlenderEi
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How to handle power distribution on a robot?

Our team just finished the FRC competition and I am trying to learn more about robots in general. I'm trying build a robot in a similar setting than the FRC competition. However the RobotRIO is out of my budget. I'm currently set on buying a…
Kadgiko
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Coordinate system of SCARA Manipulator

I am trying to understand how to draw coordinate system for forward kinematics. Figure is Could someone please explain how is the coordinate system drawn as per DH parameter? Basically when do we have to shift the origin of a frame and when not?…
Preeti Srivastava
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Torque commands for velocity reference motor

I have a controller board for a motor, where I can read the motor current (to transform to torque), the position, the velocity and I can give a velocity command. There is not really a torque mode on this controller, that is I can only command…
user12345
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Matlab: Simulate received signals of sonar sensors

StackExchange community! I need the guidance what to use for the generation sensor data in Matlab. My purpose is to optimize the exploration process of unknown environment using the multi-robot system. For that, I need to simulate the sonar sensor…
Albina Kamalova
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ROS Gazebo Odometry Issue

I am setting up a Gazebo model for use with the navigation stack. I have been reading the Navigation Tuning Guide and am confused about the lidar data in the odom frame. I would think that the tuning guide, when it says: "The first test checks how…
Connor Fuhrman
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How to rotate a rotation quaternion in the body frame to a rotation quaternion in the world frame?

I have a sensor (3 axis gyroscope) which can rotate and measure angular velocity in 3 dimensions (aligned with the sensor). I know what its current orientation is with respect to the world frame. Call this quaternion qs. I take a reading from my…
badmistersquirrel
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Delayed Kalman navigation based on two way ranges

I am interested to know the basic principle of the "Delayed KF" when considering an underwater robot aiming to localize it self using a LBL system. More practically, in order to calculate the distance to each anchor, the robot transmits a PING to…
john
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How to move robotic arm in straight line

So here is my problem. I need to grab an object with my robotic arm, but I don't know the position of the object. The only thing I know is the angle between object and gripper. You will maybe better understand better from this image. So my…
notARobor.exe
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inverse kinematics matlab RVC for 3 joint RRR

Hi im having problem with Inverse kinematic using RVC toolbox in matlab for RRR manipulator. L_1 = 20; L_2 = 50; L_3 = 40; L(1) = Link([0 L_1 0 pi/2]); L(2) = Link([0 0 L_2 0]); L(3) = Link([0 0 L_3 0]); Robot = SerialLink(L); Robot.name =…
Maciej Zaręba
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Motion planning from a given path

Many articles reference algorithms such as A*, PRM or RRT based planners to motion planning algorithms which seems unreasonable since it is still necessary to parametrize found path with time.I wonder, why? However it is not the main problem. The…
Long Smith
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