Robotics Stack Exchange
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1500 questions
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Joint angle correction using LM

I have a camera mounted on a rotational joint. I need to calibrate the extrinsics of this camera. I can fix the camera at an estimated angle (facing the ceiling). Then I want to get the real angle. For that I track key-points in the ceiling while…
Mehdi
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Can I use QT to communicate with a Lego NXT robot?

QT has native bluetooth support, but can it be used to communicate with the Lego NXT robot?
Klik
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2 answers

What happens when a brush-less motor stalls?

Ok apologies for those who think my questions are not direct enough as I got warned about this. I am really new to this and I will try to keep this one direct enough for the forum. For obvious reasons I cannot test this out without damaging…
Galahad II
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Continous rotation with cables

A motor needs to spin n*360 degrees. On top of the motor there are distance sensor which scan the room. I.e. lidar. What options do I have for implementing a continous rotation while having cables which are in the way?
nFu9DT
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Controlling a 400W motor with 24V 16A batteries with an arduino board

I want to build a robotic vacuum. I have a 400W 24V vacuum motor that I want to switch on automatically at a set time every night. The batteries I will be using will be 2x12V 80aH deep cycle gel batteries connected in series. I want the Arduino to…
Mark Brady
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Understanding a sliding mode controller for quadrotors

I'm really willing to understand and implement such a controller (sliding mode) for a quadrotor. I've found this interesting document explaining that topic. If you scroll down until page 381 (don't be scared, the document is just 6-7 pages) you can…
Wilhelm
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How does the "rated torque" for a gear relate to the maximum torque?

I have just sized the DC motors I want to use (corresponding to my robot and its intended applications - my figures include a 50% uncertainty factor to account for friction in reducers and other losses). Now I need to actually choose the exact…
arennuit
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Stated power for a motor does not equal nominal voltage x current?

I have just sized the DC motors I want to use (corresponding to my robot and its intended applications - my figures include a 50% uncertainty factor to account for friction in reducers and other losses). Now I need to actually choose the exact…
arennuit
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3
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2 answers

Choosing DC motor: max needed torque vs nominal torque

I have just sized the DC motors I want to use (corresponding to my robot and its intended applications - my figures include a 50% uncertainty factor to account for friction in reducers and other losses). Now I need to actually choose the exact…
arennuit
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1 answer

Numerical-Example for Paden-Kahan subproblems?

I am writing a kinematics library in Go as part of my final year project. I am working with Product of Exponentials method and have successfully implemented the Forward Kinematics part of this. I need help with the Inverse Kinematics. I understand…
Tvaṣṭā
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2 answers

How to convert PID outputs to appropriate motor speeds for a quad copter

I am building an autonomous robot using PID control algorithm. So, far I have implemented PID using online resources/references. I am testing for stabilizing an axis of the quad copter. However, I am not successful to stabilize even one…
Ptrung
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Rotate (and stop) a large disk in very tiny increments

In a lab build I'm doing, I'm stuck at this problem, so I am fishing for suggestions. I'm creating a turn-table type setup where I need to make readings (with a nanotube-tip probe I've already designed, similar to an AFM probe) on the very…
boardbite
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2 answers

A general question about PID Controller

I have a basic question because I'm trying to understand right now a concept that I thought it was obvious. Looking at this video he is going to feedback the variable state x with the input of the system, which is a force f. Now, if I'm correct it…
Wilhelm
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What should I be looking for in a DC motor that will be used in a UROV thruster?

I know that some DC motors produce a lot of torque but only actually move at a very slow rate, while others do the exact opposite. I know that I need some sort of balance between torque and the RPM's of the motor for use in a underwater thruster,…
Jabbath
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How to periodically estimate states of a LTI if the output is measured irregularly?

How can I periodically estimate the states of a discrete linear time-invariant system in the form $$\dot{\vec{x}}=\textbf{A}\vec{x}+\textbf{B}\vec{u}$$ $$\vec{y}=\textbf{C}\vec{x}+\textbf{D}\vec{u} $$if the measurements of its output $y$ are…
JLagana
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