Robotics Stack Exchange
Robotics Stack Exchange

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1500 questions
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1 answer

TWIP robot - DC gearmotor speed/Encoders

I'm working on a self-balancing TWIP (Two-Wheel Inverted-Pendulum) robot project which will be using two brushed DC gearmotors with encoders. As there were no speed constraints for the robot (and given a wheel radius of 0.03m) I chose a top speed…
somers
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Stream Real-time Video with Environmental Data Overlaid

I want to embed environmental data collected from sensors into a live video stream from a camera. Has anyone done this or know how I would go about doing something like this? Is there a library available for the arduino or RPi?
r351574nc3
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How do CAD programs solve for Inverse/Forward Kinematics problem in Assembly?

I am trying to solve for the Forward kinematics of a spatial parallel manipulator. Its loop closure (LC) equations are pretty long, and are being solved using numerical methods. As I am adding more links to my manipulator, loop closure equations are…
shivams
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DH parameters solution for forward kinematics

I am stuck at a problem of solving DH parameters for a simple test mechanism. I know that the given mechanism is a structure but just for pure academic purposes assume that it's a real system. I only want to know the correct way to solve a system…
Robotics nerd
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Prop Orientation on a Multirotor

While looking up information for the right propellers for my quadcopter, I realized that they had different orientations i.e. Clockwise and Counterclockwise. On further research I found that all multi-rotors have different combinations of these…
Chandough
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Rotation ratio between left rocker and right rocker in rocker-bogie system

Following, the previous question, I am trying to calculate how much one rocker would rotate when the other is being rotated. I attached my calculation here. I am trying calculate the rotation of gear B that connects to right rocket. Given gear A…
ikel
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Correctly calculating free acceleration given NED referenced orientation quaternion and sensor referenced acceleration data

I have a sensor outputting correct, calibrated North-East-Down referenced quaternions describing the orientation of the sensor. It also outputs raw, sensor referenced acceleration data, inclusive of gravity. I want NED free acceleration, without…
Mauvai
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Force calculations for a wheeled robot

I'm trying to work out the wheel force and torque required for a TWIP robot, so that I can size a motor. I've calculated a maximum traction force of $\small6.51\mathrm N$. My understanding is that a torque force at the wheels of up to and including…
somers
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Multicopter: What are Euler angles used for?

I hope you can help me and this is the right forum to ask. In the process of building and programming my own Quadcopter, I encountered the term Euler angles. I took some time to understand them and then wondered why they are used in multicopter…
JustAGuy
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Why doesn't this kalmanfilter filter anything? Reduce disturbances and noises with LQG controller

I have a state space model which look like this: $$ \ \begin{bmatrix} \dot{x} \\ \\\dot{\tilde{x}} \end{bmatrix} =\begin{bmatrix} A - BL& BL \\ 0 & A-KC \end{bmatrix} \begin{bmatrix} x\\ \tilde{x} \end{bmatrix}+\begin{bmatrix} B & I & 0\\ 0 & 0 & K…
euraad
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Image registration with ground plane for surround view

I am currently working on a project which which involves surround view. I have 4 fish eye cameras and are fixed at 4 sides of a car.The fish eye cameras are corrected for radial distortion. After radial correction,Each camera sees a pattern in the…
Nitron_707
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How to measure and dispense a finite amount of powder or liquid

I've been watching too much How It's Made, and I've been wondering how they build devices that spray/inject/dispense a finite amount of liquid (to within some amount of error). I wanted to try this for a hobby project. I'm working on that dispenses…
awiebe
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Coordinate transform of accelerometer on rigid body

I have a question about something that seems like it would be pretty basic, but so fair I haven't been able to find a whole lot of discussion on the issue. It's possible I'm not not familiar enough with the terminology. I have a rigid body with an…
Obi_Kwiet
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System Requirements for Gazebo

According to this document from Gazebo's (Beginner:Overview) online web site, for the installation of Gazebo version 7.0 on Ubuntu OS, these are the following System Requirements: A dedicated GPU (Nvidia cards tend to work well in Ubuntu) A CPU…
user16902
4
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2 answers

How can i connect two adafruit 16-channel 12-bit PWM/Servo Driver I2C interface (pac9685) to Raspberry or Arduino

I need to control 24 servos but I do not know how to do with I2C. I saw some componentes that do it with USB, but I need to do it with I2c. I am working in a robot with 8 legs and 3 degree of freedom in each leg, so i need to connect and control 24…
Julio Tentor
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