Robotics Stack Exchange
Robotics Stack Exchange

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1500 questions
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Where to start for the software side of Robotics?

I am a Computer Science student entering my last year of college. I'm pretty sure Robotics is what I want to eventually be doing based on my interests in AI and embedded systems. I've seen a lot of topics that covers Robotics such as: control…
user2600
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Once you understand motors, what's the next step?

I've gone through tutorials on how to build circuits and control dc, stepper, and servo motors. I may not understand everything about them internally, but i have a good basic foundation. Now i'm at a loss for where to go from here. I'm more…
Paul
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Do diagonal mecanum wheels require the rollers to cross the center of the robot

I'm currently in the process of making some changes to my robot to use mecanum wheels. The kinematic models I've seen assume the 45 degree roller from one diagonal wheel to the other, crosses the center of the robot and I've also seen some frame…
PNash
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Can inferences about servo torque or applied force be made by measuring servo current drain?

I'm working on a robot arm project for hobbyist / learning purposes. One of my DIY motivations is to be able to easily add additional sensors. I've been thinking about using ACS712 linear current sensors to measure the drain on each servo. (The…
RowanP
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How does Lidar penetrate jungle canopy for archeological surveys?

I've read articles like these https://www.nationalgeographic.com/history/article/maya-laser-lidar-guatemala-pacunam and wanted to understand what's going on here. My understanding is the lidar would mostly bounce off of the canopy but to create maps…
blueether
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Confusion over configuration space, workspace and task space

I have been watching Kevin Lynch's videos on Coursera in this series on the basics of robotics. From that I gathered these are the definitions. configuration space is the space of all configurations of the robot. workspace is a specification of…
heretoinfinity
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DC motor modelling with Bond Graph

I am trying to construct an equation that describes the output torque as a function of lambda and omega I have obtained the following bond graph but I am unsure of how to proceed.
Simba N
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Unstable principal point estimation in zoom camera calibration

I have a camera with a 1/2.9" image sensor from FLIR and a 12-50mm motorized zoom lens from Theia. Because the lens is a motorized zoom lens, I tried to calibrate the camera for different zoom and focus setups with an asymmetric circle matrix board…
sixer
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How to attach plate to stepper motor?

Total noob here (never touched Arduino before today), & have pretty much no hands-on technical experience (although with lack of experience, I make up in enthusiasm to learn!) Question: How do you attach a plate (material of plate yet to be decided,…
Tee
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Calculate information matrix for graph slam

0 I am new to SLAM. I am working on graph slam where I need to do pose graph optimisation. For this requirement information matrix is required between two edges for which the transformation has already computed using iterative closest point. I used…
Rajat
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Pose difference estimation in cartesian impedance control

I am trying to implement a cartesian impedance controller in simulation (gazebo + KDL). The method which I am using is the following: Compute the EE pose from KDL's forward kinematics for the position Compute the EE twist from KDL's forward…
Manos Agelidis
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When reading serial data between Arduino and a node, it hangs. How can I properly send and read data?

I'm using ROS2 foxy with no libraries installed. It runs on an Ubuntu 21.04 x64 machine with kernel 5.8.0-59-generic. I created a project with the goal of controlling an Arduino using python serial in a workspace with the following structure: -…
rasa911216
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Nonlinear Sensor Fusion with Space-Time Finite Element and Static Condensation?

I have recently implemented an algorithm for the nonlinear fusion of GNSS, barometer, magnetometer, accelerometer and gyroscope data. The algorithm is based on a space-time finite element where the Hermitian shape functions represent the position…
Emil
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Covariance of Gaussian after sequence of homogeneous transformations

Assume we have a robot that moves and observes landmarks on his path. The path is composed of $k$ poses $s_1 \: ... s_k$ where $s_i = [x,\ y,\ \theta]$. From the sensors, we read the motion measurements as a sequence of gaussian random variables…
Federico Taschin
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Visual servoing: simple control law

The problem I have a control scheme like the one in the image attached below (Source: Robotics, Vision and Control Fundamental Algorithms In MATLAB®, Peter Corke). But instead of a robotic arm, I have a pan/tilt head. I am not sure what control law…
Optical_flow_lover
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