Robotics Stack Exchange
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1500 questions
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Observation Model Jacobian for Fixed Transforms

Let's say I have a hypothetical sensor that provides, for example, velocity estimates, and I affix that sensor at some non-zero rotational offset from the robot's base. I also have an EKF that is estimating the robot's velocity. Normally, the…
automatom
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Will a 20amp ESC run a Turnigy 2213-980?

I'm a noobie just starting out and trying to come up what I need to build my first quadrocopter, I just wanted to run something by people with some experience before I commit to buying anything. Would this esc be fine for running this motor? As I…
Shannon
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EKF localization known correspondences

I'm facing problems with this book and it is the only book that discusses localization in depth. The results that I'm getting makes no sense. I've read a lot of papers, majority of them copy the localization algorithm from this book. My question…
CroCo
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Typical method for integrating a neural net into a PLC

How would one typically integrate a neural network into an online automation system? As an example, we have developed a neural network that predicts a difficult to measure variable within a reactor using multiple sensors. We then use this predicted…
Wilhelm
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jacobian of Abb irb140 robot

Can someone please help me with the jacobian matrix equations for Abb irb140 robot. Or an easy way by which I can derive it given the DH parameters. I need it to implement some form of control that am working on. Thanks
yavo
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Alternative way to perform Pole zero cancellation?

I've read a lot places that making a controller which cancels the unwanted pole or zero is not good designing practice for designing a controller.. It should make the system uncontrollable which off course isn't wanted. But what alternatives do i…
confused
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Industrial Robotic Arm

I had the opportunity to work for a factory/company that is in the domain space of production and they want to use a robotic arm for part of the production line. They want basically a robotic arm with payload of about 2 Kgs or more and an arm length…
iordanis
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Why does microstepping give less torque?

I am experimenting with using a stepper motor for a robotics project. I'd like to use microstepping to give a better resolution and smoother movement, but I have noticed that the finer the microsteps, the lower the torque from the motor. Why is…
Rocketmagnet
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Performance/memory considerations for pathfinding lookup tables on RobotC for a small set of paths

I'm writing a C code generator geared toward RobotC and complex tasks for an FTC team, and was wondering about some performance and storage concerns: How much memory is available for my program's data? It'll be mostly pre-defined lookup tables,…
nanofarad
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how does poles and zeroes affect the step response of an transfer function?

I have this close loop transfer function: It overshoots, but why? The poles are placed such that that the damping = 1, so why the overshoot?
Control
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How PID affect the Root locus of a close loop transfer function

I am trying to understand how a PID controller moves the poles and zeros of an transfer function. I've been playing a bit with it, but aren't able to see some kind of connection. I mean that P and I rises the Overshoot which would mean that the…
Control
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Effect of adding a Pole and Zero to PID

I am confused about how adding a D (which adds a zero to the complete system) decreases the speed of the system. But when we normally add a zero to the system, it causes the system to overshoot. The same goes for the I part of the PID. Normally when…
Control
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Simon K firmware when the IMU outputs at 50HZ

I am building a Quadcopter using the Sparkfun Razor IMU which outputs the Roll, Pitch and Yaw axes values at 50 Hz, which limits the operations of the controller(implemented on Arduino IMU), to 50 Hz mx itslef. Please tell me if flashing the…
Omair K
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How to read data from i2c using i2cget?

I'm new to embedded devices and am trying to understand how to use i2cget (or the entire I2C protocol really). I'm using an accelerometer MMA8452, and the datasheet says the Slave Address is 0x1D (if my SAO=1, which I believe is referring to the I2C…
pedalpete
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Outputting a precise voltage in millivolts on Arduino Mega

So I need to output a varying voltage off an Arduino Mega in a range of 17 to 32 millivolts, which I've attempted to do by sending a PWM signal off the board into a low-pass filter which steps down the voltage. This works, but the problem is that…
Cains
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