Robotics Stack Exchange
Robotics Stack Exchange

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1500 questions
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2 answers

How to compute the orientation error between two 3D coordinate frames?

For my master thesis in robotics I have to compute the orientation error between two coordinate frames, called E and H. Their orientation is expressed through rotation matrices (3x3) with respect to a "world frame", W. Remark: writing $R_A^B$ I'm…
Xela95
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How will the currently evaluated computer technology influence robotics and embedded systems in the foreseeable future?

This is my first question on this site, might be a little subjective :) There is an ongoing process of many cool cyclonic changes of technology in the electronics and software industry. Concurrency and Parallelism What will be the implications of…
xsnk
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Telemetry with Ardupilot 2.6

I'm using the telemetry kit from 3DR robotics (433MHz) to interface with Ardupilot Mega 2.6, controlling a quadcopter. The Mission Planner (v1.2.84) by Michael Oborne works well with the telemetry kit, transmitting flight data (IMU, compass, GPS…
metsburg
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Bevel Gear Compatibility

ServoCity sells a great little 2:1 bevel gear ratio set: 2:1 Bevel Gear Set (1/4" Bore Pinion, 1/4" Bore Spur) I have it currently set up in my project and was thinking a 1:1 gear ratio might be better suited for my purposes. All over the site it…
PatchB
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Driving a small motor

I am trying to drive a small motor using (software emulated PWM) from a Pi like device. I'm following a circuit that looks like this:L https://www.instructables.com/id/Raspberry-Pi-GPIO-Circuits-Controlling-High-Powere/ Main differences are: My…
jgauthier
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How to run the kuka_experimental program on Github in RViz?

I have installed Ubuntu 14.04 and installed ROS Indigo in order to run the kuka_experimental source code which can be found on Github. I have built the catkin workspace and compiled the kuka_experimental source without errors. How do I run or launch…
Ezani
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What Software Is Used For Autonomy Software Simulation?

I don't have a physical robot but I would like to test the performance of my C++ code for odometry, SLAM, and path planning. Are there any good simulation software where I can test my algorithm implementation?
Coder Motor
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Why in trajectory planning in joint space the manipulator never crosses a singularity?

I am studying robotics kinematics and I have studied that if we plan a trajectory in joint space it is impossible for the robot manipulator to cross a singularity during its motion, while in cartesian space this is possible. But why in joint space…
J.D.
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How to define the degrees of freedom of a flexible manipulator?

Consider a cable-driven flexible manipulator which has 3 cables. Consider the 3 cables to be actuated by 3 motors. Assume that by pulling the three cables in different configurations, we can span the entire 3D space in the workspace of the…
Omkar Paranjape
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Yaw from IMU acceleration

When IMU is gravity aligned, yaw is not observable from linear acceleration data. However, when IMU has non null pitch, the sensor is not gravity aligned anymore and the gravity acceleration gets remapped on other axes. Question: how do you…
Employee
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How do I add a tool to an inverse kinematic solver

This may be a very basic question, however I am having great difficulty to find the right answer. I have a functioning python code for the inverse kinematics of a 6 axis UR Robot. For any transformation matrix in space I get the corresponding joint…
robyll
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What is the corrispettive motion convention for robotic systems with X,Y,Z axis?

We built several systems coupling multiple linear micrometric stages. I can't find a standard defining the axis convention of these kinds of systems, it there are any. Regarding the system on the left, I would say that is an XZ system while I would…
G M
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How to compute associated (partial) Jacobian matrix for each joint of a serial manipulator?

Given DH parameters of a serial manipulator, the forward kinematics gives me T0n = T01*T12*T23*...*Tn-1n , n is the DOF of manipulator. I can calculate the Jacobian matrix J for the end-effector by taking first order partial directives. Then I know…
Michael
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Converting from Modified to Standard Denavit Hartenberg

This is probably a noob question. But as of right now I am having difficulty converting from the Modified DH to a Standard DH parameters for the Franka Emika Panda. I need standard because it allows me to avoid recoding a lot of my other…
Spaceman
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Autonomous RC Car Competitions in germany

Together with a friend of mine and my professor, we were able to build a team and come up with our own self driving rc car. Due to time we didn’t manage to apply for Carolo-Cup, which is a very good competition where teams from all over the country…
ebe
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