Robotics Stack Exchange
Robotics Stack Exchange

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Maximum distance for robotic arm throwing

I have a 6DOF robotic arm which I am using to throw a ball. Each joint can achieve a maximum velocity of 30 RPM (180 deg/s). I have been trying to generate joint angles manually and feeding them to see how far I can throw the ball until now. This…
Lonewolf
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Which is easier/cheaper: Hbridge vs ESC for controlling a motor?

I was able to find a small ESC for about $12 off of ebay. If you were designing a robot, would you see that and think? \$12 bucks for an ESC that connects to simple pulse-wave interface - sign me up! Or would you think: \$12 just to control…
ChronoFish
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Generalized Voronoi Diagram

I need to compute the Voronoi diagram for a map with some obstacles but I can't find any pseudo-code or example in MATLAB. The "voronoi" function in MATLAB works with points, but in this case the obstacles are polygons (convex and non-convex). You…
osuarez
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Does anyone know what might be giving me this error coming from an i2c device

Here is the background. I am trying to write a service for the HiTechnic prototype board. Using the Appendix 2 from the blue tooth developers kit from Lego's site I am able to understand what is going on with this service I am trying to build…
Kenn
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What is the wheel base distance of the create2?

What is the wheel base distance that should be used for the create2 to calculate angle? I have seen 230.8mm in code samples but the manual seems to indicate 235.0 mm.
kirk Lennard
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One BEC for multiple ESC (Quadcopter)

I'm building a quadcopter and have discovered that most ESC have a built-in BEC, but I was wondering if it wouldn't be better to use only one. What if I delivered power to my four ESC with a unique BEC ? Would that work ? I think this would be…
mimipc
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Mobile robot algorithm implementation error

I am working in reproducing a robotics paper, first simulating it in MATLAB in order to implement it to a real robot afterwards. The robot's model is: $$\dot{x}=V(t)cos\theta $$ $$\dot{y}=V(t)sin\theta$$ $$\dot{\theta}=u$$ The idea is to apply an…
Wobbler28
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Measuring vehicle's forward and lateral acceleration using a smartphone

I want to measure the acceleration (forward and lateral separately) using an android smartphone device in order to be able to analyse the driving behavior. My approach would be as follows: 1. Aligning coordinate systems Calibration (no motion /…
R. Doe
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Simulating Dynamixel motors in Gazebo

I'm trying to simulate a humanoid robot using Gazebo with plugins. Since our actual model uses Dynamixel motors, I'd like to know how exactly they work to make the simulation as realistic as possible. Gazebo offers two options to control joints. One…
Vikram Nitin
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Difference between g-value and rhs-value in Lifelong Planning A*

What is the difference between g-value and rhs-value of Lifelong Planning A* algorithm? According to this link, D* Lite, g(s) directly correspond to the g-values of an A* search, i.e. g(s) = g(s') + c(s',s), and rhs(s) is given as $$ rhs(s) =…
vacky
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Fastening sheet steel on nylon

I'm trying to attach a small piece of sheet steel (30mm x 50mm x 1mm) to a small piece of nylon (50mm x 50mm x 4mm). Does anyone know how they could be fastened using small screws ( Any thought appreciated.
WKleinberg
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Can we simulate a actuator with a very strong torque with a PID controller

I use gazebo to simulate a robot arm. To control its joints, I use PID controllers. As you might know, PID are sometimes pretty hard to tune and this is the case for a robotic arm. To avoid any tuning, and because I don't need the PID values to be…
Robin
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How to make a robot arm follow a shape/path

I have constructed a 3 DOF robot arm. I want it to follow a trajectory on a 2D plane (XY). Tha shapes I want to follow are lines, cycles and splines. I now the math behind these 3 shaped (how they are defined). I have the kinematics, the inverse…
Metalzero2
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Real-time object classification for an indoor autonomous quad-rotor

I am designing an indoor autonomous drone. I am currently writing an object classification program in OpenCV for this purpose. My objects of interests for classification are: ceiling fans; AC units; wall and ceiling lamps, and; wall corners. I am…
Vino
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Dynamic model of a robot lifted by a balloon (Multibody system)

I'm having a hard time trying to understand how to obtain the dynamic model for a system similar to the image. The balloon is a simple helium balloon, however the box is actually an aerial differential drive platform (using rotors). Now there's…
nVolteX
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