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Working with a swarm of robots, collaboration between the nodes is really important(either for the goal of simulation or real-word operation). Middle-wares are the frameworks for this special purpose. I know some of the relevant middle-wares like ROS(general-purpose but popular) or uMVS(that is basically design for AUVs). Now, I have two questions:
Do you know any other choice for the above mentioned purpose?
What criteria should I consider for choosing a middle-ware suitable for my purpose?
Thank you.
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I have a GY-31 Light sensor and I am trying to make a skittle sorting machine. There is a little wheel skittles can drop into then they are turn to 90 degrees read by the light sensor then dropped out the bottom. The problem is the code seems to get stuck after reading the light sensor (it still flows through but won't execute the moving of the servo). As soon as I take out the ReadSensor line the servo works like normal. Do I have to dispose of the Color Sensor some how?
#include <Servo.h>
#include <MD_TCS230.h>
#include <FreqCount.h>
#define S2_OUT 2
#define S3_OUT 3
MD_TCS230 CS(S2_OUT, S3_OUT);
Servo myservo; // create servo object to control a servo
// a maximum of eight servo objects can be created
void setup()
{
myservo.attach(11); // attaches the servo on pin 9 to the servo object
Serial.begin(57600);
Serial.println("[TCS230 Simple BLOCKING Example]");
Serial.println("Move the sensor to different color to see the value");
Serial.println("Note: These values are being read in without sensor calibration");
Serial.println("and are likely to be far from reality");
CS.begin();
CS.setFilter(TCS230_RGB_X);
CS.setFrequency(TCS230_FREQ_HI);
CS.setSampling(100);
}
void readSensor()
{
uint32_t v;
v = CS.readSingle();
Serial.print("Simple value = ");
Serial.println(CS.readSingle());
}
void loop()
{
Serial.println("Start");
myservo.write(0);
delay(1000);
myservo.write(90);
delay(1000);
readSensor();
myservo.write(180);
delay(1000);
}
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I want programme my very own G-code generator for my final year electrical engineering project. I know that there are many open source G-code generators out there, but I need a G-code generator which generates a G-codes for custom circuit designs drawn by the user and pass the G-code serially to my 2 axis CNC machine. So currently I'm working on a Qt based GUI where I draw .dxf format circuit diagrams and electrical components (like resistors, capacitors) and when I press a "Generate G-code" push button I should generate a text file with nice set of G-codes for my designed diagram.
So the problem here is, how do I generate the G-code? Is there any specific algorithm to follow or adapt? I tried googling for G-code generator algorithm but I couldn't find any helpful stuff.
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I
suppose who know ROS and how it works (at least most of you)
I have some question regarding the implementation of a quadrotor in that
framework.
3D movements: A quadrotor has 6DOF and moves in a 3D
environment. Looking at the various ROS packages I could not find any
package that allows to drive a "robot" in the 3D space. The package
/move_base for instance allows only 2D. Make sense to use this
package for such a project? I thought to use 2D navigation projecting
the "shadow" of a quadrotor on the ground...
MoveIt: it seems a real interesting and promising package, but I
read that it is for robotic arms and not expressly indicate for
quadrotor. Maybe one can use the possibility to create a virtual
floating joints in MoveIt to let the quadrotor any movement in a 3D
environment...that's ok, but I cannot understand whether is "too much"
and not useful for a flying robot.
Trajectories: The possibility to create a 3D trajectory in the
space seems to be not a standard package of ROS. I found Octomap
which allows the creation of 3D maps from sensor datas. Very interesting
and for sure very useful. But...I don't think it could be useful for
creating 3D trajectories. Should I in that case create an extra package
to compute 3D trajectories to be feed into the quadrotor? Or there
already something like that?
There is already an existing project hector_quadrotor which seems to
acclaim a good success ans it is very considered in the field. Most
people refer to that project when speaking or answering question
regarding quadrotors in ROS. I saw many times that project...since
weeks. And due to the total lack of documentation I didn't try anymore
to understand how it works. Really too difficult.
Another interesting project, ArDrone, has comments in the source
code...in Russian!!! @_@
Could you me give any good suggestions? Or point me in the right direction
please?
It would help me to understand how to focus my searches and which
package I can/cannot use.
UPDATE: my goal is to let the quadrotor flying and using gmapping to localize itself. I've heard and read al lot of stuff about that but I found all this tutorials very hard to understand. I cannot get a global vision of the software and sometime I run in problems like: "is there a package for this task, or should I invent it from scratch?"
Thanks!
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The robot should go around 2 boxes and stop at the starting point after tracing a 8 figure pattern. With micro-controllers, i guess it can be easily done using sensors or navigation algorithms. Please suggest how can be one made without them.
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I'm reading a book about a hypothetical economy in which robots work for us because they eventually became able to do everything we do ("Our work here is done, visions of a robot economy" by Nesta).
I was wondering though: is it theoretically possible for a human brain (an extremely complex artificial intelligence the way I and many others see it) to comprehend itself in its deepest details and produce an artifical intelligence which is exactly identical? It sounds unlikely. If not then, how close can we get?
This is not a philosophic question, the ideal answer would be a rigorous demonstration based on metrics simplifying the problem to be able to answer it, however objective answers with valid arguments are always interesting, too.
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My quadcopter can lift off the ground, but it kinds of circles around. Here is my video
https://www.youtube.com/watch?v=Rxjpwhbgiw0
Anyone helps me?
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I have a project in mind for a robot which is able to recognize surfaces, and thought about including the following sensors:
a temperature sensor
a colour sensor, or a complex of electronic components to determine a colour
and a texture sensor, or, as above, a complex of components to fulfill the purpose
Now, I did some research on finding a(preferably small) texture sensor for soldering into an electronic circuit, similar to those little temperature sensors one can buy.
I already thought that "small" would probably turn out to be not small at all before I searched.
But my research has been fruitless.
Not just fruitless like in "I can't find exactly what I want." but fruitless like in "I cannot find anything similar to what I want."...
Most things that turned up either were scientific papers about whole devices, or whole devices for purchase.
Some company even choose "Structure Sensor" as the name of their iPad-compatible 3D scanner, which made the search utterly depressing as every second article I found is about buying some pre-built iPad device.
All I need is the electronic component, nothing else.
So hope that any of you people can spare me some research time and recommend me a company/site/whatever which sells such texture sensors.
(Btw., I do know that surface sensors are probably a bit way more complex than temperature sensors, and my hope for getting what I want is low, but just because I cannot find something, ot does not mean that it doesn't exist.)
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I have a simple RRR manipulator where one motor controls the base rotation, and the other two allow movement in a plane extending forward from the base and upwards/downwards. Are there any standard ways to ensure the angle of the end effector remains constant?
My current solution uses explicit trigonometric expressions based on distance between joints, but if there is a better way to solve it to include restraints I'd be open to suggestions.
Edit
The manipulator is essentially like the image below, but with an additional base rotation. This allowed for the inverse kinematics to be simplified. As a reference here is the site http://www.hessmer.org/uploads/RobotArm/Inverse%2520Kinematics%2520for%2520Robot%2520Arm.pdf
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I previously used the Ziegler method to tune the parameters of my PID controller to control my robot's position. I then implemented fuzzy logic for self-tuning the parameters.
I have two inputs to the fuzzy logic controller; one is the position error and the error rate.
I know that my problem might be due to not understanding the effect of each parameter very well.
The problem is that I am confused in setting up the fuzzy rules. When do I need to use high and low values for Kp, Kd and Ki to achieve the best tuning? Is it that Kp must be very low when the error is almost zero (hence, the robot is at the desired position)? The same question applies for all of the three parameters.
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I am making a self balancing scooter which runs off 2 x 12V SLA batteries connected in series to make 24V. Everything works as expected except for the power supply which makes me pull most of the hair in my head for 2 weeks now. Hope someone could help.
The 2 24V motors run off the batteries directly. Now for my scooter, I need a +12V line for the half bridge drivers, and a +5V line for the signal part. For +12V I am using a LM2576-12 hooked to the batteries (+24) and for the +5V signal I am using a LM2596 ADJ, also hooked directly to the batteries (or is it supposed to be hooked to the output of LM2576-12 for better performance??).
The problem is that, when the motors are under load this power supply system makes the microcontroller hang (or reset I am not too sure, since everytime I have to try to turn off the power switch immediately, because the motor keeps running with whatever value they are fed with right before this happens), usually within 1 minute of riding, which is very dangerous when someone is onboard.
I have read and re-read the datasheet of LM2576 and LM2596 many times, and have tried many settings, from recommended to different values of capacitor and inductor. For the diode, I am using the SS34.
I guess its not because of electromagnetic interference, since while I do have the PCB located near the motors, the PCB is actually put inside a homemade Faraday cage which is grounded (Battery -), and the motor cases are also grounded. Plus that the microcontroller only hangs when motors are under load (i.e. me on board), especially when I go from forward to backward.
The motor controller is self made, using 8 x AUIRF2804S MOSFETs. I also put 4 x 1000uF caps between the motors and the +24V.
Would anyone be so kind to throw some light. What would a power supply for this kind of application is supposed to be?
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I am planning to control my bicycle derailleur with an electronic circuit, the advantages being multiple but not topic of this question.
The actuation would be performed by placing the assembly very close to the derailleur (but not on it) and by winding the usual steel cable around a spool placed on axis of a gear, and by using a motor to turn the gear.
This question concerns the alternatives for the spool self-locking mechanism (and eventually the kind of motor to use).
In the literature I found http://nabilt.github.io/diy_eshift/ and other similar ones that directly modify the derailleur with a stepper motor, and then are forced to keep the stepper motor powered up all the time to keep some torque on the shaft. I consider this inefficient, therefore I require a self-locking system to be able to remove power.
I come up with two ideas:
worm gear operated by a DC motor, where the steel cable is wound around the gear. This system is self-locking or almost self-locking, according to the gear ratio: the gear cannot (easily) drive the worm.
a motor driving normal gears with an appropriate reduction factor, but with an additional friction element, whose friction force is greater than the strength of the spring mounted on the derailleur (sorry if I mixed the technical terms). This is what normal bicycles already have: the friction along the cable and in the element placed n the handle is high and keeps the derailleur in place.
Both system would be assisted by a position-sensitive element (a trimmer?) to detect the actual position of the gear and/or of the derailleur, all configured in a closed feedback loop.
I don't consider additional options for the gear such as this one: http://www.agma.org/assets/uploads/publications/10FTM17_Kapelevich.pdf that consists of parallel-axis gears, whose teeth are however shaped in a manner to achieve self-locking without the need of a low-efficiency worm system.
From my point of view, I cannot see any clear advantage of worm gear vs friction except for:
the worm gear may allow me to build a more compact assembly, thanks to the two axes being perpendicular
speed vs torque: worm gears reduce the torque requirements, but the motor has to spin a lot and I cannot wait 3 seconds for each gear change.
Concerning the choice of the motor type (this is not the main question though), I think that:
a worm gear allows me to easily use a DC motor, since torque requirements are low and I don't need to detect the position of the shaft. Moreover, DC motors increase torque with decreasing speed, while stepper motors have the maximum torque defined by the stepping frequency.
DC are more compact and cheaper, important if I decide to offer this assembly as a kit and not unique, personal prototype.
I am working with 5V supply and I fear most easy-to get DC motors (old printers, scrap electronics) work on 12V, with a significant reduction of the available torque when operated at 5V.
I was looking for a "mechanics" section in Stack Exchange but I couldn't find it, so I opted for Robotics instead of Electronics.
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I am new to robotics, and would like to build a smaller robotic arm than in manufacturing facilities.
I want a small robotic material handlers that can pick up or handle small objects around 12"x12"x12" objects. Essentially a small robotic assembly line in my garage.
Are there any kits I can purchase that deals with robotic assembly lines?
I was wondering has anyone dealt with this before any suggestions on this?
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I am a software engineer and also a poultry farmer.
I periodically have to manipulate my poultry in such a way as to grab their head and hold them for a brief period, approximately 10 - 30 seconds. This is an extremely labor-intensive process and it occurred to me that I might be able to use robotics to do the same task. I am a software engineer so I know very little about robotics and am hoping that someone can point me in the right direction. Can someone please refer me to companies and/or robotic systems that might be able to help me with this task?
I currently load the poultry into cages specifically designed for this process. I am thinking that these cages could still be used as they keep the birds from running and make it much easier to capture their heads.
I recently read about a Raspberry PI that had a port of Deep Belief image recognition SDK and thought this might be a promising start.
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I am using PID controller to stabilize quadcopter. Its working well on the jig. But when I removed jig it went up and hit ceiling. I analyzed my data and from which I come to the conclusion that at static poisition my gyro sensor is outputing +-6deg/sec but when I start motors (without being control in) gyro rate jupms to +-30deg/sec. This increase in rate due to vibrational noise is causing quadcopter to liftup without beign my intension. Any suggestions to get rid from this vibrational noise?
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I am a complete beginner at this.
I have an arbitrary map as a PNG file (black and white, only). And I'm supposed to draw a robot at a position(x,y) and then I'm supposed to simulate the robot taking a laser-scan measurement for an opening angle of 130 degrees, separation of each scan-line is 2 degrees. So, obviously: each laser scanline is supposed to be obstructed by black pixels in the PNG map, while the other lines just keep on going for an n distance.
I've attempted drawing scanlines around the object, but I'm running into issues when it comes to getting each line to be obstructed by the black-lines. To my mind, it requires a completely different approach.
Any helpful advice on how to get started would be greatly appreciated.
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My and a friend are hacking together a Nespresso Coffee pod dispenser. We have our heart set on a particular design after thinking up countless ways of dispensing a single pod.
The design has a single flavour of pods in a vertical tube so they tend to fall down. One or more latches around the base of the tube stop any pods from falling out. Releasing the latch for 45ms will allow the pod through (10mm fall, well past the lip of the pod) while catching the next one.
The latch is the problem component. I haven't yet found a suitable product off the shelf. Ideally, the solution would be compact and cheap (< $5).
Here are some of the latch ideas to date (most of which are considered linear in motion):
Solenoid - Seems over-kill and tend to be > 5 dollars each
Ultrasonic Motor - Can't find any
Linear Actuator - Usually around 50 dollars and quite bulky
Piezoelectric Actuator - Mostly tuned for nM scale precision, and are hard to come by.
Rotating disk with release notch, driven by stepper motor - still > $5 and moderately bulky.
Rotating latch with string attached to rack and pinion powered by electric motor - Don't think it's a simple enough solution.
Rotating cam - how a gumball machine works (I suspect). (This was also suggested in an answer, but would involve both a mechanical and electronic motor component, not as simple as option [5])
I have a 3D printer, so I am open to mechanical solutions - a custom latch with crude electromagnet for example.
Note the desired size of the latch (Yellow), holding pods (Orange) in a tube (Black). Yes, motors can work, but they would be quite bulky. I'm not after the obvious solution, but a clever one, or one which finds the suitable product.
(I understand that with only one latch on one side, the pods will not sit perfectly vertical, and the latch would need to be higher up.)
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I have sorted out all the internals for my robot (drive systems and weaponry) and now I need to put it all together in a chassis which will be about 40 cm wide by 35 cm long by 7 cm high. I have examined different options, including Perspex, Acrylic and Polycarbonate as well as aluminum, in a number of thicknesses. However I have excluded Perspex and Acrylic because, unlike Polycarbonate, they tend to shatter if bent.
So now it is down to Polycarbonate and/or Aluminum.
So here is the problem, up for discussion or a solution.. but first I must point out (a) that the overall weight limitation in turn imposes chassis weight limitations (b) that this is my first ever robot wars entry, and (c) I am likely to be up against cutting and tearing devices.
I already have the weights of the different materials in hand, so all of the following options are possible in terms of weight.
Option 1: Do it all in 6 mm Polycarbonate.
Option 2: Combine a thin (2 mm aluminum) outer shell with an underlying 3 mm polycarbonate one to get a good mix of the properties of both (rigid and hard, thin and heavy + flexible and strong, thick and light.
Option 3: As Option 2 but the other way round - 3mm Polycarbonate on the outside and 2 mm Aluminum on the inside.
Should I go with Option 1, 2, 3 or something else altogether that maybe I am not seeing? (Note: having it all in 3 mm aluminum is not possible as it will be too heavy - I checked)
Should I have the aluminum on the outside as a heavy duty shell or on the inside as a "last resort" layer? (Note: In my mind these layers would be held together with nuts and bolts with washers to spread any impact loads; but even here should the nuts and bolts be tightened for rigidity or left slightly loose for impact absorption?)
Any advice, especially from people seasoned in the art of robot warfare please?
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I scavenged a 4 terminal power switch (Legion EPS 21) from some electronic device (don't remember what it was) and it has the following markings on it:
Legion EPS21
10A 250VAC TV-5
8A/128A 250V µT85
I would like to use this as the main power switch for my robot which will have nothing higher than 12 volts and a "normal" total Amperage (i.e. with all the motors in it running) of around 25 Amps, but of course if a motor stalls then the current will rise much higher.
First of all I cannot understand how the same switch can be rated for different amperages. I cannot find any datasheets for this switch that might help nor any reference to the standards (TV-5 and µT85). So I would like to know if this can handle 128 Amps at 12 Volts. If it helps at all, the wires currently connected to the terminals are quite thick and have "18 AWG 600 volts" written on them.
Secondly I would like to ask whether I need to cater for normal running amperage levels or for stall current levels, which are obviously much higher. Although people talk about stall currents running over 100 Amps in some cases - which quite frankly cause me some concern - I cannot seem to be able to find any such switches on any robot component websites, so I am starting to think that it is the "normal" level of current I should plan for and not the "stall" one. Am I right in this?
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After seeing the movie, I, Robot, I got this question.
If Asimov's 3 Laws (actually implementing law 1 automatically implements the other 2) are perfectly implemented on a quantum computer that controls an army of humanoid robots, and it decides that taking complete control over the politics and economics via revolution is the best way to ensure human happiness, shouldn't it be allowed to proceed peacefully to ensure minimal loss of life? Isn't the hero's decision to destroy the computer fundamentally wrong?
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QT has native bluetooth support, but can it be used to communicate with the Lego NXT robot?
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I'm working on a diy quadcopter build from scratch and have bought a 4pack ESC from Castel Creations.While i currently have my quad up and running(sort of), from what i've read on the various sources and forums on the internet, i am not able to/ not recommended to use different ESCs together on the same quad.
As i bought my ESCs together as a 4 pack, and am not able to buy any replacements unless i were to switch out all 4 of them, this has me worried in the eventual case of a spoilt ESC in the future.
From what i can gleam from various posts on the internet, it seems to have something to do with the rate at which ESCs communicate with the flight controller.If so, can i not simply buy a esc programmer and program all of them to communicate at the same rate?
I've asked the dude at my local hobby shop, and he said that i cannot/should not be using different escs from different brands or even the same brand but different models( i.e 35v & 20V ) ESCs together.
I would really appreciate it if someone were to clarify what exactly is the issue with using different ESCs together on the same quadcopter.
P.S If it helps, i'm currently using the APM 2.6 as my flight controller on a WFLY transmitter and a f450 frame.
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Well, I wanted to use some very small servos for a project and the smallest I could find there these:
https://www.hobbyking.com/hobbyking/store/uh_viewItem.asp?idProduct=33401
But Danny Choo (a Japanese blogger) started a business with robotic dolls some time ago and I remember him mentioning somewhere on his site that he uses servos in his dolls.
(also this pic, containing doll nudity: https://farm4.staticflickr.com/3889/14502508165_fde682636b_o.jpg)
This is about 60cm in height and therefore the servo in my first link is obviously too big, to e.g. fit inside the arm.
I was wondering what kind of servo(or motor in general if it's not a servo in the end) he is using that is so tiny it can fit in there.
Does anyone here have any idea?
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I'm stumped. I've been looking through all of the Qt classes and I'm so completely and utterly lost. There are only three examples of bluetooth use in Qt, but none of them work for me. I just need a program that can talk with NXT and analyze an image from a webcam.
Has anybody gotten this to work before?
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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 moving my robot forward. Supposing that odometry is perfect, I will see a difference between real key-points shift and estimated shift from the odometry.
I thought about using Levenberg Marquardt to find the optimal solution which is the angle and of my camera in the robot frame but what would my equation look like?
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How does the submarine prevent water flow through the screw mechanism? The mechanism rotates the screw so there should be a little gap, how come the water doesn't come through this gap in to the submarine?
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I've been reading about hierarchical reinforcement learning (HRL) and it's applications. A well-written literature review on the subject can be found here. However, I was wondering if research has ever been done where an HRL system has been implemented on an individual robot? This paper seems to imply that it has been, by saying that the delivery task that it models "is commonly used in HRL, both in computational and experimental settings". However, my Google Scholar searches haven't turned up any fruit as to what this real-world experimental setting might be. Help would be appreciated for finding either model-based or model-free implementation of hierarchical reinforcement learning in a robot.
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How would i go about measuring and quantifying the performance of an ESC? I am looking to measure the response rate(in Hz) of an ESC, as well as it's performance(i.e how fast it starts and stops, as well as how much it increases/decreases the motor's speed per tick).
I'm assuming that i can manually program an ESC and it's response rate with a programming card/module that is compatible with said ESC, but i would still not be able to measure the exact performance of the ESC.
I would appreciate any and all inputs and suggestions.
P.S This question is linked/asked in conjunction with a previous question of mine here on the Robotics StackExchange here Why can't i use different ESCs together on a multirotor?
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I wish to start my vending business, but none of the existing vending machines fit my needs.
So, I need to choose the "brains" to my vending machine under current development.
The user experience of my vending machine will be:
User change their products on touchscreen display (firegox open rails application running in the "brains"), insert moneys, after that products will be returned to the user and notification (json query) will be send to it saas.
There are requirements:
Popular (I want to use a widely used computer for better support)
Debian-like or CentOs like system (easy to develop rails apps on them)
Big count of GPIOs
Working with touch-screen and large display (at least 15")
Working with mdb protocol (for currency detector needs)
So, I need your hints. It seems that BeagleBone is more powerful then Raspberry Pi, but there is one problem: It doesn't support many of the video outputs. Is there any solution to make good video output on BeagleBone? Do other such computers exist?
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I am using the wheels and motors of an RC toy car as a simple robotics platform. The car has 2 motors, one drives the back wheels, the other steers the front wheels. The steering motor is stalled by design when steering, it is blocked at a fixed angle by the plastic chassis. It draws 0.85 A when stalled (i.e. anytime when steering).
Due to this marvel of toy engineering I have to use an oversized motor driver IC (L293B – 1A continuous) and this motor draws about 3W of power (0.85A x 3.6V). I’m using this IC to control the other (“normally rotating”) motor as well, which appears to be the same type: 0.85A stall current, around 100mA no-load, and 250-400mA at normal loads.
Testing with various series resistors I have found out that 0.3A are sufficient to turn the steering wheels and keep them in position. Using a resistor might allow me to use a driver IC with a lower Amp rating (L293D – 0.6 A), however the same energy is still wasted, only as heat. While this is not a serious issue with this toy setup, I am planning to build bigger robots with significantly more power, so energy conservation and current control will be important in the long run, and motors may also stall accidentally.
Looking into DC motor current limiting, I’ve found the following approaches:
Series resistor – simple, cheap, bidirectional, wastes energy, dissipates heat
Current source with 2-3 transistors and sensing resistor – relatively simple, however I’ve only found unidirectional circuits, which would get shorted when switching motor direction. Is there a way to use this method bidirectionally? (and/or with a 2-channel H-bridge IC? - I cannot place it before the ICs common supply, because the 2 motors draw different currents).
Chopper circuits/PWM – Will this reliably protect the IC from overload? Is it energy-efficient?
Are there other other methods I am unaware of? Something on the principles of switching supplies?
Would it be simpler in my application to use 2 separate drivers/h-bridges and place a voltage divider between them, so that a lower voltage is provided for the inefficient stalling motor and more to the one that moves the robot?
So how do the above methods compare in terms of efficiency and simplicity of design? What is the preferred method in robotics/other DC motor applications? Also, is it standard practice to limit DC motor current, or a motor is most efficient if allowed to draw as much current as it needs? Is it acceptable to use a DC motor that is mechanically stalled by design, or is this only used in cheap crap toy cars?
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I've read about various robots using a 2D lidar system for SLAM ( such as at IGCV, http://www.igvc.org/ ) but I'm wondering how good exactly does the sensor have to be? Specifically:
What accuracy is necessary?
What field of view is necessary? Is it enough just to have lidar scanning forward in a 90 degree sweep?
What angular resolution is needed?
I realize that probably with super clever software you could probably do SLAM with a couple ultrasonic sensors, but using standard packages for software navigation what's a reasonable minimum value for these parameters? (and any other important ones I've forgotten)
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In my possession I have an Inovatic USB Interface. (In Detail: UI-8x8 v1.1 2009) I would like to program it to do some simple stuff and things. I am familiar with C# Programming but from what i have heard its not possible to program this interface with C#.
What it looks like:
Where can I find the Drivers for this Interface? I have checked the Inovatic website but they only have the v1.0 version of the drivers and I'm pretty sure that I need v1.1 !
How can i program it? What language do i use?
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I am computer programmer and it's really been long since I have done electronics. I need help on connecting my servos to an Arduino to power my robotic arm. This is the robotic arm that I am trying to build.
I have come up with the connections as shown in the below diagram with my basic knowledge and browsing the internet. I have omitted the signal wires for clarity.
What I would like to know is
Will this work?
Is this a good/decent design? I think it isn't as I have 4 battery packs.
I would like to have a single power source that would save me the trouble of maintaining so many batteries. To do this I have thought of using a voltage regulator but I am concerned about how this would perform if one servo starts drawing too much load. It might suck up all most the power leaving very little for the other servos.
Any suggestions would be greatly helpful.
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When I put stereo camera on a moving platform and sync the cameras, what kind of delay between the cameras is tolerable? This would probably depend on the motion, but are there some guidelines?
Are there any practitioner guides on how to build a moving stereo system?
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I am new to robotics. I want to make a robot using Arduino Uno R3. I need to use Gear Motor 9 for that here is the link.
The problem is that motor needs 50mA current. But arduino only outputs only 40mA current.
I want to supply the motors with another power source and use a switch to connect both the circuits. Can you please tell me what type of switch I can use.
Thanks in Advance.
P.S. Sorry if I used any wrong technical terms
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I have a two-wheeled (two DC motors) robot that needs to follow the wall beside the robot.
The issue is that the DC motors spin at different rates (because they are not identical, of course), so the robot does not go straight when the same voltage is provided to each motor.
How can I use IR distance sensors (and op-amps) to keep the distance from the wall constant?
(the robot must travel parallel to the wall)
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I have a two-wheeled (two DC motors) robot that needs to follow the wall beside the robot.
The issue is that the DC motors spin at different rates (because they are not identical, of course), so the robot does not go straight when the same voltage is provided to each motor.
How can I use IR distance sensors (and op-amps) to keep the distance from the wall constant?
(the robot must travel parallel to the wall)
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To determine an outdoor location I think that I need to measure the angles between at least 3 beacons and take into account the order I sweep the beacons. Is this a workable solution to get positional accuracy of about 30cm in a house block sized area?
Rewrite of question, note no distance measurement is suggested only angle measurements.
I am proposing that it might be possible to have a minimum of 3 local rf beacons and a robot device that sweeps an antenna through a circle identifying the angles between these beacons and to use this information and the order that the beacons are seen to find an absolute location. I tried to prove this geometrically and it seems that with the 3 beacons there is 2 unique solutions without knowing the order and 1 solution if the order is known. There would (I believe) be no need to try to find the distance to the beacons. My question is, could this be implemented for a reasonable cost with some nRF24L01 based transcievers and some sort of rotating antenna?
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This is all hypothetical. If it was possible, it would have been done by now.
I realise that this area has been touched upon in many sci-fi movies but I wondered that if it was even feasible, how could it be achieved?
I know that it would raise a lot of ethical questions, I don't doubt that but I'm interested in the science.
What would a robot's brain have to be like to function like a human brain? For example, for it to have emotion (e.g. love, empathy), learn new things and remember them, make all those connections that a human brain does?
Thanks to all who reply!
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I am a newbie in this drone field. I am curious to know what type of rotation and translation a dualcopter can achieve ? By rotation and translation i mean can it be able to roll, pitch and yaw like quadcopters?
If not, in any copter what makes them to roll pitch and yaw? Furthermore are there any dualcopter design that have movable wings that will rotate the rotors itself or do up and down motion while flying?
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given the following differential equation 2°ODE in the following form:
$\ddot{z}=-g + ( cos(\phi) cos(\theta))U_{1}/m $
found in many papers (example) and describing the dynamic model of a quadrotor (in this case I'm interested as an example only for the vertical axis $Z$) , I get the movement about $Z$ after integrating the variable $\ddot{z}$ two times. As control input I can control $U_{1}$, which represents the sum of all forces of the rotors.
A Backstepping Integrator (as in many of papers already implemented) defines a tracking error for the height $e_{z} = z_{desired} - z_{real}$ and for the velocity $\dot{e}_{z} = \dot{z}_{desired} - \dot{z}_{real}$ to build virtual controls.
Through the virtual controls one can find the needed valueof $U_{1}$ to drive the quadrotor to the desired height (see the solution later on)
But wait...as said above I need to track both: position error and velocity error.
Now I asked myself, how can I transform such equation and the corresponding virtual controls to track only the velocity??
In my code I need to develop an interface to another package which accepts only velocity inputs and not position information.
I should be able to drive my quadrotor to the desired position using only velocity informations, tracking the error for the z displacement it not allowed.
The solution for the more general case looks like:
$U_{1}=(m/(cos(\phi)cos(\theta))*(e_{z} + \ddot{z}_{desired} + \alpha_{1}^{2}\dot{e}_{z} - \alpha_{1}^{2}e_{z} + g + \alpha_{2}\dot{e}_{z})$
for $\alpha_{1}, \alpha_{2} > 0$
I could simply put brutal the $\alpha_{1} = 0$ for not tracking the position on Z but I think that is not the correct way.
Maybe could you please point me in the right direction?
Regards
|
I have a robot simulation that simulates Mars Exploration Rover with six steerable wheels.
In case of the following steering configuration
// --- // front wheels
// // middle wheels
// --- // rear wheels
I'd say the heading of the rover with respect of the rover's body is about 45 to the right.
My question is what is the right approach of calculating heading with respect of the rover body?
Do I simply sum the steering angles of steering actuators and divide it by the total number of the steering actuators?
Additional Note:
Assuming no slippage on a perfectly flat plane.
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I am looking for open source implementations of an EKF for 6D pose estimation (Inertial Navigation System) using at minimum an IMU (accelerometer, gyroscope) + absolute position (or pose) sensor.
This seems to be such a recurring and important problem in robotics that I am surprised I cannot find a few reference implementations. Does everyone just quickly hack together his own EKF and move on to more interesting things? Is that not rather error-prone?
I would ideally like a well-tested implementation that can serve as a reference for fair evaluation of possible improvements.
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With the lego NXT Mindstorm kit I would like to have a rotating carousel that has "perfect" movement. This carousel has baskets and therefore it has quite a bit of inertia. I would like to find a method to calculate the perfect time to slow it down--taking into account motor friction, and momentum etc.
Here is some data I've collected:
The motor power is the power to the motor. The break time was the time it took to stop from the time that the motor power was set to 0. The over-turn dist was amount of rotation in degrees that the motor continued to rotate after the power was set to 0.
Is there a specific method or approach to optimize the motors movement so movement can be precisely rotated to X degrees?
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My lab is interested in a good all-terrain UGV that can also be used indoors. We are particularly interested in the Clearpath Husky, Clearpath Jackal, and the Robotnik Summit XL (or XL HL), though we would welcome any other suggestions. Does anyone happen to have experience with more than one of these, and can speak to their pros and cons?
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I am looking into building a nano quadcopter, But as i watch more resources and videos i get more confused, regarding some of the things that i hope would be answered here. I am in very basic level of expertise here, i haven't built any robots or quadcopters to be exact.
What i want to know is, when i program a quadcopter say using intel edison chip, how do i power the quadcpter? i could not find that small size battery to move the propellers and start the chip.
Further more what is the procedure i should follow while developing a nano or small quadcopter, i saw a link on instructable that uses python on raspberry pi and then that raspberry pi control the arduino to control the robot. Can it be done only by using raspberry pi itself?
I am getting confused and i would like to know if i have to make small or nano quadcopter what should i be doing to get started?
Most of the latest chip support linux and high level programming language like python, so i hope i can go about programming the entire quadcopter using python or similar high level language and i don't suppose i have to stick with c langauge now. If i am wrong please help me understand the matter, there is high chance that i could be wrong.
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What's an appropriate tool for simulating a car driving in a simple closed-loop racetrack? I'm trying to implement the control logic for an autonomous vehicle, and I'd like to be able to first simulate the behaviour before testing on a physical platform. The target environment is mostly 2D, but there are some 3D obstacle like small ramps and arches, so I can't use a strictly 2D simulator.
I've looked at some robotics simulators, as listed here, but they seem like overkill and none of them seemed designed to model outdoor environments. I've done a little work with Gazebo, and I can't find any guide of texturing the ground/sky/background.
All I really need is some way apply a texture map to the ground and sky, create a handful of obstacles, and then to calculate a camera feed as a simple two-wheeled chassis moves along a mostly 2D course. However, I need the video input to be as realistic as possible because I don't have access to the real world racetrack. I need to be able to test and train the control logic in the simulator, and then load that logic onto the real mobile platform and have it navigate the course.
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When I look at my toy gyroscope (I have never seen the inside of a motorized gyroscope), the central flywheel is suspended within the various gymbals and needs a lot of freedom of movement. It's hard to see how an electric motor in the flywheel hub could be supplied with power.
How do "real" gyroscopes maintain angular velocity in their flywheel?
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How can I write a linear state space model for a 4 wheel mobile robot with Ackerman steering in terms of error. I want the robot to follow a line. The robot is rear wheel drive
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My friend and I are building the upper body of a humanoid robot for our M.Sc thesis project. There are 24 DC motors in this robot. The thing I want to know is what is the best way to command these motors simultaneously?
The design I had in mind is for each motor to have its own micro for position and velocity control and then one master micro to command and control the slave micros. If this is the best way to go how does the master micro command slave ones simultaneously?
Another question I have is what is the best micro for the robot to go with between ARM and PIC? I want the master micro to receive its command from a PC. Any help would be appreciated.
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I am looking to buy a laser distance meter and to connect it to a motor and a 3g cellular to control both the motor and to mesure the distance. I will appriciate your advice on how to do so. thanks
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Please give me guidance how should I proceed to know about SLAM algorithm? I am following some youtube videos but those are not so much helpful for me.....
|
We estimate position of robot in localization and SLAM. My intuition says we get better position estimation in localisation than in SLAM because we have better sensor model likelihoods in localization because of given complete environment than in SLAM.
I would like to know the difference in accuracy of estimated position in localization and SLAM.
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I'm trying to devise a system to lift a 10kg weight a distance of 1.4m vertically, and allow it to move in/out a distance of 30cm. I'd like the motions to be able to occur simultaneously if possible.
I'm thinking for the vertical motion I can use a suspended climber system. However I am unsure as to how I devise a system for the horizontal motion (in the horizontal plane I need nothing to protrude - only when the device is told to extend, so a horizontal suspended climber system isn't a possible solution.
I'm thinking I will need to use 2 electric motors.
Also - I'd like to mount it to the side of a car - so lightweight and low power draw is a must.
Does anyone know if there is anything available that will do this? Or suggest how I could combine a couple of systems to make this work?
Any information is appreciated.
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I'm building a quadcopter using Raspberry Pi. There is the Pi Camera connected to the Raspberry Pi which is streaming the captured video. I can connect to this stream via Wi-Fi on my notebook (Linux) by using the console command "nc" and then show it by "mplayer".
What I want to do though is avoid the console commands and connect to this stream directly through my Java application. The reason is I want to do some image processing operations with this video so I need to have it in my application.
Is there anyone able to help me?
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I am building the upper body of a humanoid robot for my M.Sc thesis project with 24 DC motors and multiple sensors (something like i-cub or Nao). I have basic knowledge of communication protocols and I have worked with micros before but I have no knowledge and experience on working with ROS. The question I have is whether or not it is worthy and practical for me to learn ROS and use this for my robot or should I stick with what I already know.
|
My native language is not English, so I don't know all the specific terms you may expect me to use. I apologize for that.
Anyway, I have a motor and three connecting rods (in French, bielles). So point C will have a circular trajectory and A, thanks to the sliding pivot (pivot glissant, I really hope I am using the right translations), should have a perfectly vertical trajectory.
My question is, how could I calculate the force F? I need this to emboss a piece of paper.
Thanks a lot for your attention!
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I am using L3GD20 and I am trying to implement a kalman filter for it on the stm32f3 discovery board. I have though a few questions about that:
After the filter gave me the values, do I have to make an average between them and those of the original model or should I use them as they are?
According to this document, we don't use the original state space vectors in the filter, so how could we have "correct" space state estimated values?
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I am making a robot that is supposed to roam inside my house and pick up trash using openCV. I plan to send information from my arduino mega to my arduino nano connected to window pc using radio transceivers. I also plan to send video feed from raspberry pi camera over WiFi to the windows PC. The windows PC then uses openCV and processes other information from the sensors and sends command back to arduino mega.
I have right now:
Arduino mega
raspberry pi + usb camera + wifi dongle
Xbox 360 kinect
wheel encoders
sonar distance sensor
arduino nano
windows PC
I want to know how to keep track of the robot like the room it is. I think what I am trying to do is SLAM, but I just need to make the map once because the rooms don't change much. I am open to ideas. Cost is a factor.
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I am trying to integrate bluetooth in a project with MSP430 so to be able to communicate between it and my PC. Doing a search on eBay I found the following item:
HC-05 06 Transceiver Bluetooth Module Backboard Interface Base Board Serial
There are also a lot of other bluetooth modules that appear to be a lot more expensive and their boards are populated with IC's that this one doesn't have. So I am wondering if this is what I need or it has another use.
|
Is there a "cape" to make wiring sensors into a Beaglebone Black easier?
Whenever I read some guide for wiring a sensor into the Beaglebone (like this one) it always recommends attaching wires directly to GND, +V and signal pins, which is horribly messy and unmaintainable. Even for small projects, you end up having several wires connected to the same GND/5V+ pins, so if you need to replace or repair something, you end up disrupting the wiring for every other component in your project.
Most Arduino guides assume this bad practice too, but at least I've found various "GVS" shields to help organize groups of GND/5V/Signal pins so I can attach individual sensor cables.
Is there anything similar for the Beaglebone? I can't find anything appropriate Googling "breakout" or "IO" cape. I could only find one GVS cape, but it's less than ideal, since it only exposes 5 5V GPIO pins, and everything else it exposes as 3.3V or 1.8V which are incompatible with most peripherals.
|
I am using this gyroscope in order to measure the rotation of my robot around the z axis.
I want to implement a kalman filter in order to improve the values.
What i came with since now is this space model:
$$
θ(k+1)=θ(k)+dt*θ'(k)+w(k)
$$
$$
y(k)=θ(k)+z(k)
$$
where $θ$ is the angle, $θ'$ is the angular rate given by the gyro and $w$ is the noise. (I hold up my gyro and measured 50 values while it was steady and find out that the variance is equal to 0.0002).
What i want to ask:
is what i did is correct?
How can i find out $z(k)$? .According to the data sheet noise density is equal to 0.03 dps/sqrt(hz),how can i use this information to find out $z(k)$ and correct $w(k)$ if it is wrong.
|
I originally asked this here but I am struggling to take the concepts, particularly "Circumcenter", discussed there and apply it in my context. So here it is in my context...
I have a small robot that can "see" (via a camera) a partial arc (from a birds-eye view)
Therefore I know the height and the width of the square and therefore the width and height of the arc, I am sure there must be a way of approximating the circles centre?
What would be the quickest (not necessarily the most accurate) way of helping my robot find the centre.
In my head these are the steps of the problem:
Break up the arc into evenly spaced vectors ?
Work out the angle between the vectors
Use this information to complete the circle ?
Work out radius of circle
Find the center of the circle
Basically I would love some input on this problem because I think i know
?
Dot Product
?
Add up the lengths of all the vectors to get circumference and then divide by pi, then divide by 2 (or divide by Tau : ) )
I think this is where circumcentre comes in
Basically I feel I have some pieces of the puzzle but I am not sure how they fit together.
I am currently using python with OpenCV and you may have guessed, I am not great at understanding math unless its expressed in algebraic formula or code.
Here are some illustrive pictures to reference:
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I was looking at the Pixhawk specs and noticed that it has 2 different IMUs- Invensense and STM. Is it for redundancy or does it have any other higher purpose?
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Suppose I have a robot arm with $n$ linkages of fixed length and equal density whose motion constrained within a 2D plane. I want the end effector to reach a particular pose $(x^*,y^*,\theta^*)$.
I know that in general, there can be multiple solutions that can reach this pose. For my particular application, I'm interested in a solution that minimizes the maximum torque exerted over any joint under the influence of the weights of all the linkages, combined.
Is there a way I can reformulate the inverse kinematics problem as a minimization problem over the joint loads? Can I formulate my objective function to be differentiable (i.e. so that I can use traditional optimization techniques)? Would this yield an unique solution (in a least squares sense) for the 2D planar motion problem?
|
I am working with a position-controlled manipulator. However, I want to implement a torque-controlled method on this robot. Is there any way to convert a torque command to a position command?
I try to find research papers on this but I have no idea where I should start or which keywords I should use in searching. Do you have any suggestion?
|
I am new to robotics, and ime looking for a <12v motor that can be used to power a car-like robot.I will have two of these, so I can turn on-spot. Furthermore I want them not to require a gearbox, so I can just attach them to the wheels. I don't really know where to start looking for one.
I have heard servos have built in gearboxes, but don't they only have 180 degree rotation?
So does any body know a motor like I described in paragraph 1, or at least point me in the right direction?
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I am looking to build an adaptable robotic arm with under-actuated three (or four) fingered hands. Before I start shelling out money, I want to test my prototypes in a simulator which would ideally
allow me to try out various actuators, and also possibly a tactile sensor (like a pressure sensitive resistor or a pressure sensitive conductive sheet).
simulate different environments and tasks like gripping various shapes, sizes, weights etc.
be able to talk to an external learning/inference programs for the adaptive part (which, I think, goes under the name 'Dexterous Manipulation Planning' tasks), with sensory feedback from tactile sensors within the simulator and also camera input from a separate module.
What are my options for such a simulator, including those that only
partially address my requirements above?
A bit about my background: I dont have any recent experience in building electronics hardware projects, although I have experienced it as part of my labs during electronics engineering under-graduation, a field that I have left a long time back. I am just a wannabe hobbyist now.
|
Sharp IR range finders are pretty popular sensors, but I usually see them externally mounted and directly exposed to the environment which makes them prone to being damaged or getting crufty.
I have a few that I'd like to use on an outdoor rover, and I'd like to cover them with some sort of transparent case to protect them dirt and impacts in the environment. What type of plastics would be completely transparent to these sensors, and where would I buy simple sheets of it?
|
I'm trying to pull analog input from a beaglebone black using this tutorial. However when I go to /sys/devices there is no cape-bone-iio. I have spoken with several other programmers and one of them suggested that the cape-bone does not work with the newer versions of Linux. However downgrading could have negative impact on the rest of the project. Is there any other solution?
|
Let's first start of by explaining that I do not have a decent background in electronics and interfacing with them, so maybe this is a stupid question. I am currently trying to connect an old Harvard 33 syringe pump (website, PDF manual) to a computer, with the goal of controlling things like pump rates and direction. For this purpose, I connected the instrument to my computer using a D-sub/USB conversion dongle. I then connected to the dongle with PySerial without issues. However, whenever I try to send commands or request the instrument's output, for example write("RUN\r"), the instrument does not do anything at all. Requesting data (read(100)) returns only a couple of \x00. I suspect I am communicating with the dongle itself rather than the pump. When the pump is turned off or unplugged, I get exactly the same results!
Could anyone explain to me why my method does not work?
My Python code for reference:
import serial # PySerial module
# open the connection
ser = serial.Serial("/dev/ttyUSB0", baudrate=9600, bytesize=8, stopbits=2, timeout=1)
print ser # returns [Serial<id=0x1cc7610, open=True>(port='/dev/ttyUSB0', baudrate=9600, bytesize=8, parity='N', stopbits=2, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False)]
# see if the connection is truly open
print ser.isOpen() # prints True
# run the pump motor
ser.write("RUN\r")
Additional observations: when the instrument is plugged in but the above code is not running, the pump does all sorts of things at random (move one way, stop, move the other way, etc.). This behaviour is much less pronounced but still present when the code runs (and 'locks' the channel or something?). This seems to suggest that the reference voltages (logical high and low) are not properly set at 2-5V and 0-0.5V respectively
|
I'm currently flying a f450 Quadcopter using a APM 2.6 flight controller.While i am able to get the quad off the ground and relatively steady horizontally(via the use of trims).However, i am unable to get the quad to hover no matter what i do.I've tried using trims on throttle,but i am still unable to get it hover.On my transmitter (WFLY WFT06II), where the throttle has "ticks", i am currently stuck between too little lift and too much lift, where i push the throttle up by 1 "tick" and the quad goes from slowly decending to ascending, and vice versa.
Is there any way i can get my quad to hover ( with my hands off the throttle if possible), as currently, evern with me trying to fly it, i can never get it to hover vertically as it alternates between ascending and descending whenever i fiddle with the throttle.
|
We want our wheeled robot to follow a (rather short) trajectory. We wrote an LQR controller, which works well in simulation. However, our robot offers two problems:
1.) The reported state information does not seem to be very accurate.
2.) Its motion seems to underly some random deviations. We did not succeed in establishing a good model to predict the robots motion with a given control input.
Is it possible to manage these problems with the LQR controller? If yes, how?
|
Suppose we need to detect the occurrence of a special event in a large area(e.g. a city). If we need that each point being visited every h hours, how could we find the optimal number of robots for cooperative surveillance?
Notice that there is no control center!
|
I am looking for possible ISO standards for robot safety specifically for software.
I have come across this presentation that mentions many ISO standards and it's not very clear which exactly applies to software. The most probable ones are:
ISO 10218-1
ISO 13849-1 / IEC 62061
IEC 61508
ISO/TS 15066
The safety related to software seems to be categorized as Level 4 and Level 6 in the presentation above.
I would appreciate if anyone with knowledge in this area could point me to the right standard. They are quite expensive so I could simply go through them all to see which one applies.
As a side note, some standards like C have their standard "draft" freely available. Could there be free copies of drafts for those standards too?
|
I'm connecting an arduino to a lcd screen using the following library. For the display code I have written a simple piece of code that should display 2 picture os eyes (1 angry one friendly) and switching at regular intervals, however the display keeps showing me weird pixels around the borders that shouldn't be there, by making it show the same eyes twice this can be fixed however as long as I have both eyes being used it runs into trouble. Here is my code:
void setup()
{
LCDA.initDriverPin(2,7,10);
LCDA.Initialise(); // INIT SCREEN
delay(100);
}
void loop(){
LCDA.CLEAR(); //empty screen
delay(100);//wait for command to finish
LCDA.DrawFullScreen(eyes);
delay(5000); //wait 5 seconds with eyes on the screen
LCDA.CLEAR();//clear screen
delay(100);//wait for command to finish
LCDA.DrawFullScreen(angry); //show me the angry face
delay(5000);//wait 5 seconds with angry face on screen
}
/*------------------------------------------------------------------------------
; DFrobot bitmap - size 128x64 pixels, black/white image
------------------------------------------------------------------------------*/
unsigned char eyes[]={
0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x02 ,0xE0 ,0x00 ,0x00 ,0x00 ,0xF8 ,0x00 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x1E ,0xF8 ,0x00 ,0x00 ,0x00 ,0xFE ,0x00 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0x3E ,0xF8 ,0x00 ,0x00 ,0x02 ,0xFE ,0x80 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0xFE ,0xFC ,0x00 ,0x00 ,0x06 ,0xFE ,0xC0 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x00 ,0xFE ,0xFE ,0x00 ,0x00 ,0x0E ,0xFE ,0xF0 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x02 ,0xFE ,0xFE ,0x00 ,0x00 ,0x0E ,0xFE ,0xF8 ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x0E ,0xFE ,0x7E ,0x00 ,0x00 ,0x1E ,0xC6 ,0xFC ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x1E ,0xF8 ,0x3E ,0x00 ,0x00 ,0x1E ,0x80 ,0xFE ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x3E ,0xF0 ,0x1E ,0x80 ,0x00 ,0x3E ,0x80 ,0xFE ,0x00 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x3E ,0xC0 ,0x1E ,0x80 ,0x00 ,0x3E ,0x00 ,0x7E ,0xC0 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0x7E ,0x80 ,0x1E ,0x80 ,0x00 ,0x3E ,0x00 ,0x3E ,0xC0 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0xFE ,0x00 ,0x0E ,0xC0 ,0x00 ,0x3E ,0x00 ,0x0E ,0xE0 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0xFE ,0x00 ,0x0E ,0xC0 ,0x00 ,0x7E ,0x00 ,0x0E ,0xE0 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x00 ,0xFC ,0x00 ,0x06 ,0xC0 ,0x00 ,0x7E ,0x00 ,0x06 ,0xF0 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x02 ,0xFC ,0x00 ,0x06 ,0xE0 ,0x00 ,0xFE ,0x00 ,0x02 ,0xF8 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x02 ,0xF8 ,0x00 ,0x06 ,0xE0 ,0x00 ,0xFE ,0x00 ,0x02 ,0xF8 ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x06 ,0xF0 ,0x00 ,0x06 ,0xE0 ,0x00 ,0xFC ,0x00 ,0x00 ,0xFC ,0x00 ,0x00 ,0x00
,0x00 ,0x00 ,0x00 ,0x0E ,0xE0 ,0x00 ,0x02 ,0xE0 ,0x00 ,0xFC ,0x00 ,0x00 ,0xFE ,0x00 ,0x00 ,0x00
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};
each time I re upload the image it changes the way the noise patterns look suggesting this is some kind of overflow problem. However changing the last byte of the bitmaps creates lines at the bottom of the screen, right where the noise is on one of the images. Note that with different images this noise can very much "cut" into the images even creating not active pixels (0's) rather then just set ones. Suggesting that the images themselves to at least fit the display.
|
I need to simulate robotic cell where cartesian robot trims a PCB arriving on conveyor, picks it up with vacuum cup and and places in another device. After receiving signal from device the robot would pick it up and place on another belt. I want to make the cartesian robot myself using servomotors and control cell using a PLC. Would there be software that can simulate all this? I would also need to integrate sensors and possibly machine vision.
|
The rubber hand illusion (Wikipedia) involves touching both a fake arm and a subject's real arm simultaneously. This causes the subject to feel that the fake arm belongs to him. Normally a human delivers both touches, so the timing is approximate. I want to vary the latency between the fake touch and real touch precisely (~5 ms at minimum) to probe how close they need to be to create the illusion. What can I use to touch a human and fake hand lightly at variable but precise times?
|
I'm looking to buy a micromouse (i.e. a small single-board unit with wheels and IR sensors that can move around freely). I've done a lot of searching but have only found resources relating to building one from components bought separately. However, I'm more of a programmer than an electrician so I fear I would struggle with this.
Anybody know where to buy one of these in the UK? (PICAXE does some suitable stuff but they're BASIC only unfortunately). My budget is about £60.
|
I have a requirement to transmit some sensor data through wireless to a distance of 2 kilometers. I am a newbie to these technologies and concepts. Can anyone help me by providing some pointers to start with this.
|
I want to calibrate my compass, which is installed on a board which inherits a GPS module. Because the GPS antenna is up-side-down the compass is 180° inverted. The easiest way to correct the problem would be to invert the rotation matrix 180°.
However I got interested how a general approach to calibrate a compass would look like. I found some approaches like this. They seem to collect magnetometer readings an project them on a sphere. But what is actually the point in this?
Does someone know how a general calibration algorithm of a 3D magnetometer looks like?
|
I have a 7dof robotic arm and a set of end effector trajectories in cartesian space I need it to follow.
How do I deal with the redundancy in the arm when planning to follow these trajectories both with and without obstacle avoidance?
|
I've built a quadcopter and a rig to safely test it on. I'm working on the PID for controlling the roll pitch and yaw. I understand how a PID works on a more simple plant like say a robot with wheels and I'm just really in the dark ( i believe ) with controlling and stabilizing a quad.
My question, how do I make these sensor readings effectively alter the motors' throttle?
Firstly, my approach is based on this model,
CW motors A,C
CCW motors D,B
Front
+1 pitch
C D
-1 roll \-/ +1 roll right
/-\
B A
-1 pitch
My IMU calculates the roll and pitch as a value between +-1.0 where being perfect balance will read as 0.0. Now a degree of +-1.0 means approximately 90 degrees from the original axis.
A normal input to the pitch to go forward would be something like 0.33, meaning tilt 30 degrees forward.
Now my motors take some value between 0 and 100. Originally I thought this would mean i would have to modify my motor values like so.
c = throttle - roll + pitch + yaw
d = throttle + roll + pitch - yaw
b = throttle - roll - pitch - yaw
a = throttle + roll - pitch + yaw
Finally, I'm taking those floating point numbers, from the IMU and computing them like with this method, which appears to be the normal way as far as I've found.
RollPId.Compute( steering.roll - gyro.roll );
// pid_t is either #define pid_t float or double, I know its a reserved type but, a pre-processor definition will change that before it would matter.
pid_t Compute(pid_t input) {
uint64_t now = millis();
if( ( now - last_time ) >= sample_time ) {
pid_t error = set_point - input;
error_sum += error;
pid_t d_error = error - error_last;
*output = kp * error + ki * error_sum + kd * d_error;
error_last = error;
last_time = now;
}
}
I don't know where to go from here? Also I have angular rate calculated from my IMU i just haven't encountered a solution that called for it.
EDIT. Below is a graph of roughly 300 readings (20ms apart) so roughly six seconds where i hold it in one hand and roll it roughly 45degrees right. with kp=1 ki=0 kd=0
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I am building a collision avoidance system for my robot. As a part of this system I am using a pan and tilt kit
(http://www.robotshop.com/en/lynxmotion-pan-and-tilt-kit-aluminium2.html)
My aim is to pan the sensor attached to this kit, and thus plan the route the robot should take.
In order to pan this sensor, I need to know the angle the kit has panned, and need to be able to call upon that angle at point in time.
Basically the sensor keeps panning, and at a point in time when certain conditions are met, it stops panning. When those conditions are met, I need to be able to extract the angle the sensor is panned at.
The servo being used on is: http://www.robotshop.com/en/hitec-hs422-servo-motor.html
If someone could help me find a way to extract this information that would be helpful. I did read somewhere that the servo could be hacked and changed into a closed loop system where the effective angle would be shown, but that option is not viable.
Thanks
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I can't open parameter list with APM Planner.
Moreover I can't find anyone with same problem.
I run it on Ubuntu/trusty 14.04
It does not see files with any extensions including param and txt downloaded from internet or created with my version of APM Planner.
Any ideas how can I fix it?
PS ls -la from terminal
user@laptop:~/apmplanner2/parameters$ ls -la
total 16
drwxrwxr-x 2 user user 4096 Dec 9 12:57 .
drwxrwxr-x 7 user user 4096 Dec 9 21:05 ..
-rw-rw-r-- 1 user user 6881 Dec 9 12:57 paramter.param
I have param, txt files in Downloads folder also.
PS
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As already mentioned the PID output values that correspond to the error from the desirable error and current error has no units. Let's say we are using only the proportional part of the PID. Is it better to map the output of the PID values to the corresponding thrust values on each motor, or is it better to increase the Proportional coefficient Kp until the output values correspond to the proper thrust value to the motors?
For example if my desired angle is 0 and the angle that the sensor is reading is 40 degrees the difference is multiplied by Kp and the output is added or subtracted from the current thrust depending on the motor.
If I increase Kp too much, then the quadcopter is oscillating and not listening to the controller command that I am sending for the desired degrees from the joystick. If I map the values then it is listening to the joystick commands and not oscillating so much. Why is this happening? Isn't mapping the PID output values to bigger values the same as increasing Kp?
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I'm attempting to build a heavy platform on the Create 2 but am worried about weight on the platform. What is the maximum weight for the platform and is there an optimum?
I have an old create and want to know if any of my existing cables and accessories can be used with the new Create 2?
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What aged children is the Create 2 appropriate for? What is prerequisite knowledge? Is this an appropriate first robot kit for a child?
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I have an arduino uno and a BeagleBone black and would like them to talk with eachother. Both the beagleBone and the arduino have their own 5V power supplies so no need for power to be transferred over usb. The used communication line we would like to use is the direct serial line. Preferably in such a way that the arduino can just call Serial.read() in order to get the bytes it needs (there won't be many). How do I get this to work on the BeagleBoneBlack? I suspect we can call the serial.write somewhere inside the BBB(we mainly program in C++). But how do we achieve this?
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What is the best yet simple to use angular position sensor? I am building a robotic hand and I want to implement this sensor at the joints of the fingers. I don't need a module, just an analogue output.
Thank you.
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I am new to robotics. I want to understand how gears state is preserved as the gears turned to same positions repetitively.
I have a bevel gear and a step motor connected to one gear. This gear will turn 45*n = degrees. That is to say there are 8 states gears will stay in. The problem here is there will be force on the gear, which is not connected to motor, in any direction. That force must not change worm position even in micrometers. I think there should be a locking mechanism. Is there any applications of that you can give example of?
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I' m looking for a trajectory generator (the algorithm doesn't matter, since I m going to write it using C++ ) that generates a trajectory (a parametric curve in space) defined point by point which is going lately to be feed into my quadrotor drivers.
I'm honest: I don't know where to start.
Reading the following interesting answer. But the problem here is: the trajectory has a PD controller with it. My quadrotor should take just a parametric curve as input.
OMPL: this library seems very powerful and interesting. It let the user to define a planner which many different algorithms. The problem is that it is not well documented, good examples and explanations are missing and till now I could'nt find anything related to quadrotors, which does use that library. There is an example for a quadrotor, which doesn't find my expectations and I cannot figure out, how to implement it in my package. I don't want just copy and paste code that I don't understand.
B-Spline and Bezier Curve...and the whole family of parametric curves. I found very interesting libraries in internet that implement those algorithm directly C++. The problem here is: I can define some points in space, generate a spline that contains them and interpolate points for the PID controller in the quadrotor. The basic idea is like a dog chasing a rabbit. A point is generated from the start point of the spline and regularly sent to the quadrotor. The latter flies behind the point, trying to reach it until a goal point has been reached. What is the problem here?!? In this case I can only generate a curve based on geometric properties and not considering the dynamic and the kinematic of the quadrotor (which I would consider for a future project). The rabbit runs and has a tighter curve radius than the dog, which could result in a strange behavior of the quadrotor.
I'd like same good tips to point to the right direction.
Which kind of trajectory planner are usually developed fr such an application?
Thanks!
Regards
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After a lot of learning, I'm launching a reballing business and I feel the need to have a realtime plot of the temperatures involved (ideally 3 or 4) and I have an arduino uno and a few K type thermocouples, I was researching the subject and saw a lot of different approachs, most of them use arduinos to send serial data to a pc port, then from there they process it with phyton, other guys matlab, some use ms excel plus a free add on in vb for apps. etcetera, and now after some reading I feel overwhelmed by all the different methods, so I wonder, perhaps I'm already losing perspective here? may be there is a simple method I can use and KISS way of get it done? thank you.
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I am trying to control an omni wheel robot which has 4 motors using 2 joysticks, plus there are some actuation switches which I want to control too. I am using arduino mega and a pair of bluetooth wireless module(HC-05).
This bluetooth modules works on serial communication. How should I program arduino to send both the analog values provided by the joystick and the input from the switch continuously?
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For a school project I am looking to track the sun with +/- 0.1 degree accuracy for use with a parabolic dish reflector. Say we need a final output torque of about 20Nm, what kind of gearing/motors and feedback would you guys use to accomplish this? The sun position will be found with a solar positioning algorithm.
I am pretty new to this all but from my research stepper motors seem the easiest but brushless DC motors, from what I have read, can yield better results with smoother tracking. I am confused how you even use regular brushless dc motors to achieve precision positioning. I am aware of encoders but I don't really understand why the BLDC are preferred for this particular application, and how one would implement them.. Any ideas that can help kick start my researching?
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I'm trying to add a new message to the MAVLink interface. Following this page, there are the steps I took:
Added the message to ardupilotmega.xml. Right at the end of the file:
<message name="TESTING_TESTING_TESTING" id="182">
<description>A testing message</description>
<field type="int16_t" name="placeholder">Does nothing. Simply a placeholder</field>
</message>
Regenerated the mavlink messages headers using ./libraries/GCS_MAVLink/generate.sh. It worked okay and the new headers appeared.
Then I added a function to the GCS class to make sure I'm sending on the right channel:
void GCS_MAVLINK::send_testing_testing_testing()
{
mavlink_msg_testing_testing_testing_send(chan, 0);
}
Now it's time to send the message, I added my own function to the scheduler (on last priority). I made sure the function is called by sending text first and seeing it on the mission planner console. Here is the function I added:
static void a_testing_loop(void)
{
for (uint8_t i=0; i<num_gcs; i++)
{
if (gcs[i].initialised)
{
// gcs[i].send_text_P(SEVERITY_HIGH,PSTR("Testing String"));
gcs[i].send_testing_testing_testing();
}
}
}
My message, however, isn't received on the mission planner end. It might have been received and ignored by the mission planner, but anyway it doesn't appear on the console window (even with 'Mavlink Message Debug' on)
Is there configuration to be made to the Mission Planner for it to receive new messages? Or am I sending the message wrong?
Also, is there a way to filter out messages from the console when using 'Mavlink debug mode'?
I'm using SITL for testing
(I don't have enough reputation - But this should be under the tag 'mavlink')
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I am reading the following research paper regarding Trajectory tracking of mobile robots.
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5415188
There are two things at the start of the paper that i do not understand.
1) The author derives equation(14) as the state space model of the system in which he considers the error as the state. Can anyone please elaborate on why he is using the error as the state space model of the system and not the Vx, Vy, and w(Omega, angular speed) of the robot.
2) Why does the author linearize the system around the reference trajectory?
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I'm interested in quadcopters/multi-rotors and want to eventually code my own flight controller ala an APM and/or Pixhawk. I've got a little experience in programming (i.e i know about if/else/else if conditionals), and have done a little programming with PHP, though it was procedural code.
I currently have a quadcopter that i built/assembled myself that is running on a f450 frame, using a APM 2.6 flight controller,so i have a reasonable grasp of how a quad works, and i would like to take it a step further and make my own adjustments to the code base, with the eventual aim of coding my own flight controller.
I've had a look at the code base, but am still unable to get a grasp of what the code is actually doing....yet. How would i go about learning how to code a flight controller?
I'm thinking that i would have to learn C++ & OOP first, but how familiar/proficient would i have to be with C++ before i can reasonably attempt to edit the code base?Also, what else would i need to learn apart from C++ & OOP?I am looking at setting a 6 month timeframe/deadline for me to do this, would it be possible?
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I've got an industrial sewing machine (think "can sew with thread that looks like string, and has no trouble pounding through 20 layers of Sunbrella fabric"); it's got a 1 HP motor to power it. (I've got a smaller machine as well, w/ a 1/2 or 3/4 HP motor, which I might work on first.) The motor is a "clutch motor" which is always on, and a foot-pedal engages a clutch, so unless you "slip the clutch", you're basically always sewing fast or stopped. I'd like better control. In particular, I'd like to
Be able to stop with the needle "up"
Be able to stop with the needle "buried" (i.e., most of the way down)
Be able to press a button to move forward exactly one stitch
Be able to adjust -- probably with a knob -- the top speed of the motor
Have the motor off when I'm not actually sewing
The 1 HP motor is probably overkill for what I'm doing. I don't suppose I've ever used more than about 1/4 HP even on the toughest jobs.
I'd appreciate any comments on my thinking so far:
From what I've read, it looks as if a DC motor is the way to go (max torque at zero speed, which is nice for that initial "punch through the material" thing, and the ability to "brake" by shorting the + and - terminals). Brushless would be nice...but expensive. And I have a nice DC treadmill motor, and if I drive it at about 12-24V, it'll give me more or less the right speed; adjusting pulleys will do the rest. Such DC motors are powered (in electric lawnmowers, for instance) by running AC through a diode bridge rectifier to produce pulsating DC, and I've got such a bridge rectifier handy. I also have an old autotransformer that I can use to get 24VAC pretty easily. Thus I can get 24V pulsating DC to drive the thing ... but that may or may not be a good idea.
I've also got an Arduino and the skills to program it, and several years of electronics tinkering, and some RC experience...but no experience handling larger DC motors like this one. I've been told the magic words "H-bridge", and found this motor driver which certainly seems as if it'll allow me to turn on/off the motor, and regulate the voltage going to the motor. I don't know whether, when presented with pulsating DC at the input, it'll still work. Any thoughts on this?
I also can't tell -- there doesn't seem to be a handy datasheet or instruction page -- whether this thing can do braking.
For position sensing, there are lots of places I can get information -- either from the needle baror the handwheel of the sewing machine, so I'm not too concerned about that part. To give a sense of the problem, a typical stitching speed is something like 1000 stiches per minute, so if I'm just sensing whether the needle is in the top 1/4 of its travels or the bottom quarter, we're talking about something on the order of 10-50Hz, which doesn't sound like a challenging control scenario.
I guess my questions are these:
Will pulsating DC work with a controller like the one I've cited?
Would I be better off with an RC motor-controller? I can't seem to find one designed for the 24V range that can handle 50 amps, unless it's for a brushless motor, which I don't have. And I think that I want one that has braking ability as well. And I worry that with an RC controller, the software in the controller may prevent me from making the motor stop at a particular position.
Any comments/suggestions appreciated. (BTW, I'm happy with mathematics and with reading data sheets, and I've read (a few years ago) about half of "The Art of Electronics", just so you have an idea of the level of answer that's appropriate.)
To answer @jwpat's questions:
I got my voltage value by saying that the motor is rated for (I think) 130V, and is 2.5HP (yikes), but turns at something like 6700 RPM. (Here's one that looks just like mine). Dividing by 5 or 6, I got "about 24 V" to give me about 1400 RPM. (I'm at the office; the motor's at home, so I can't tell you the exact part number, alas.) I honestly don't think that the no-load vs load condition is a big deal, because I can wangle a factor of 2 with pulleys.
The sewing machine is a Juki 562
Current motor/clutch are similar to this
Sorry for the lack of detail here,
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I've just made a radio frequency remote control using PIC microcontroller and I want to do something useful with it. I am thinking of a robot that gets things for you while you are at bed but here comes the question: How am I going to have the PIC determine the location of the remote control calling for it? It can't really be done using a GPS module because it will all be in the house.
What options do I have?
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