Robotics Stack Exchange
Robotics Stack Exchange

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1500 questions
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How to control a brushless motor?

I consider using a brushless outrunner motor, designed for helicopters, in my driving roboter. How can I control such a brushless motor with my micro controller? Of course I'll have a separate power source. The roboter should be able to move…
danijar
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Robot moving on a flat floor - 2D or 3D SLAM?

What is the best way to model the SLAM problem (offline) for a wheeled robot moving on a flat floor in 3D space (the pose has only 3 degrees of freedom)? In terms of sensor data, we have the wheel odometry and 3D measurements of landmarks (coming…
means-to-meaning
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AWS Robomaker - success story?

I've struggled to get my head around Robomaker and still have not gotten even a simple robotic example to work. Have you located any documentation that is more complete than one Amazon offers?
pitosalas
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Tracking with accelerometer and gyro versus multiple accelerometers

I'm building quadcopter and most of the control systems use one accelerometer and gyro. I've read few papers and usually accelerometer is used as reference to the ground because gyro slowly drifts away in time. But if quadcopter does some crazy…
tom
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In SLAM, how does a laser range finder produce pseudo-segments from dynamic objects?

In this paper, the author says that during SLAM process, pseudo segments that appear from any momentary pause of dynamic objects in laser data would make the map unsatisfied. How is this caused? If the dynamic object moved, won't laser data update…
Po-Jen Lai
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Design Calculations & Mathematical Modeling of Tricopters

I have been studying about building a tricopter. But I couldn't find the design calculations or mathematical modeling of the tricopter any where over the internet. What are the mathematical relationships or equations of motion and forces in…
sarath
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AT command in SIM900A GSM/GPRS module to find out originating address of an SMS

I am using SIM900A for some purpose and want to know the number of the sender from where a message comes. I am unable to find the specific AT command related to receiving message which give me number from where latest message comes. I had used…
shailendra
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How to correctly compute direct kinematics for a delta robot?

I'm trying to put together a simple simulation for a delta robot and I'd like to use forward kinematics (direct kinematics) to compute the end effector's position in space by passing 3 angles. I've started with the Trossen Robotics Forum Delta Robot…
George Profenza
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2 answers

Encoder values for PID control

I'm working on a two-wheeled robot and I'm trying to implement a PID control for the motors. But I have a problem, all sources I found online said I have to calculate the error with my encoder values. For the robot I'm programming I got 2 functions.…
Qilos
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Does a vehicle with defferential gear still move straight?

I am in the concept phase of a driving robot. The two wheels on the front axle will be powered, while the rear will be dragged along. The rear is also responsible for steering but this has noting to do with my question. Since the robot is required…
danijar
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Sensor fusion - Kalman for two identical position sensors

I require a little help in the implementation of my filter. I am currently working with two Leapmotion devices for the physiological study of hand vibrations. For this we call each of the devices "L leader" and "L support". I have problems with the…
gondsieg
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How to cope with an optical window limitation on 2D LiDAR?

I have a very small and cheap robot and I wanted to mount a 2D LiDAR on a bottom of it (3cm above the ground). It seems to be great as during the mapping the lidar will detect even small elevations from the ground. But what happens when a chair will…
Edmund
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CNC stepper motors are loud and slow after decreasing the steps/mm from 250 to 5

I'm making a drawing robot and have hooked up my steppers to each axis. I'm using the grbl shield with arduino and nema 17 steppers. Initially the firmware was set at 250 steps/mm but with my setup this would move my axis by 50mm. Therefore I only…
Stephen
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Reachable Position with endeffector robotic arm

I have a 7 DOF robotic Arm. All the 7 Joints are rotational and have upper and lower joint angle limits. Now assume my end effector has a certain Pose $x = [X, Y, Z, a, b, c]$. My Question now is how to calculate the maximal reachable $X$ Position…
sqp_125
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2D Transformations as Affine Matrices

I have found the following exercises about 2D Transformations as Affine Matrices. I am stuck at the second exercise that goes as follows: The 2D pose of a robot w.r.t. a global coordinate frame is commonly written as $x =(x, y, \theta)^T$, where…
Gabriele
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