Questions tagged [optimization]
The optimization tag has no summary.
38 questions
1
vote
1
answer
62
views
Is It Sufficient to Define a Path as a Collection of Points?
In robotics literature, paths are often described informally as sets of points in configuration or task space. However, I find this point-set definition insufficient when I try to reason about motion-...
- 93
0
votes
1
answer
44
views
Optimal point for rotations using 6-joint robot
I would like to use a 6-joint robot arm to rotate an object around a fixed point in space. The rotation only needs to cover 2 degrees of freedom (yaw and pitch, in that order).
For each point in space ...
- 1
0
votes
1
answer
69
views
How can I reduce CPU usage when subscribing to multiple topics and monitor sensor reliability in ROS 2?
I am subscribing to 4 topics in ROS 2 (2 PointCloud2 topics and 2 Camera topics) with a QoS deadline specified. My goal is to raise an alert if the messages on any topic fail to meet the QoS deadline. ...
1
vote
0
answers
41
views
What would be a good objective function to tune a PID controller in a 6 DOF robot manipulator?
As stated above, I am currently trying to tune the PID in a controller for a robot arm (the input of the plant is torque, and the output is its state).
I first practiced with a single joint (1 DOF, a ...
- 31
1
vote
0
answers
74
views
How should I optimize a PID in Webots correctly?
As stated above, I need to optimize the PID gains (the feedback) in the torque controller for trajectory tracking I am currently doing.
This is what I have done until now:
Begin simple, with just one ...
- 31
0
votes
2
answers
52
views
Can we apply LQR control in high dimension - like to a full robot?
I have been watching Russ Tedrake's videos on robotics, which are wonderful. But I am confused by one thing.
So he talks about the application of LQR control and its ability to efficiently stabilize ...
- 101
0
votes
1
answer
80
views
Is there any way to know if tmux is slow for a multi-robot experiment and if there are alternatives?
I'm trying to run a multi-robot SLAM experiment, which is similar to that of Kimera-Multi, that uses tmux to run numerous shell and ROS commands. I'm on ubuntu 20.04 and ROS noetic.
I'm running on an ...
- 23
1
vote
0
answers
71
views
Designing Equality Constraints for an MPC Controller
I'm trying to implement a MPC controller for a quadruple tank process as shown below.
My system has the following constraints:
The voltages applied to the two pumps are non-negative and cannot be ...
- 113
2
votes
0
answers
106
views
Differentiating correspondences in ICP objective function?
The Iterative Closest Point (ICP) algorithm usually alternates between two steps:
Point correspondence finding
Nonlinear least squares optimization of ICP objective function given those ...
- 173
0
votes
1
answer
83
views
How to do path planning using only a fixed number of points?
I have a vehicle with cameras to detect different colored cones.
I want to generate a drivable path based on the location of the detected cones.The number of detected cones varies, as it depends on ...
1
vote
1
answer
213
views
How to solve this basic dynamics/inverse kinematics problem
Suppose I have a 6-DOF robot arm with revolute joints whose tooltip is at some position $\bf{r_0}$ and I want to move it through some trajectory ${\bf r}(t)$.
For simplicity, assume there are just 2 ...
- 348
1
vote
1
answer
456
views
Solving inverse kinematics with non-linear optimization libraries
Is it a good idea to solve inverse kinematics with non-linear optimization libraries such as Ceres?
I've seen examples of Ceres being used to solve IK and it provides elegant, concise solution.
But my ...
- 113
0
votes
0
answers
46
views
How to find fundamental matrix based on other fundamental matrix and camera movement?
I am trying to speed up some multi-camera system that relies on calculation of fundamental matrices between each camera pair.
Please notice the following is pseudocode. ...
- 101
1
vote
3
answers
2k
views
Difference between motion-only bundle adjustment and pose-graph optimization
I've been trying to figure out the difference between motion-only bundle adjustment and pose-graph optimization, when talking about systems that only use cameras to estimate motion between frames, but ...
- 123
0
votes
1
answer
102
views
The Optimal Reduction Ratio
Hello everybody. For my robot design, I would like to utilize the most optimal gear ratio that I can use. For that I want to utilize the torque of my motor which is a linear function of rpm. This task ...
