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  1. Don't let this overwhelming power go to your head with the Kerbal Mobile Suit. Only trained Pilots allowed. Auto Pilot Available How to pilot: Press T (SAS) and use Radial to stay upright. Press 1 To Engage Walk Type (S, A, D) to maintain stability when needed. (warning q and e are reverse personal preference) Kerbal X: https://kerbalx.com/InterstellarKev/Kerbal-Suit-Mk-ISteam: https://steamcommunity.com/sharedfiles/filedetails/?id=1990404251
  2. KSP: 1.8.1 Windows 64bit Problem: Hinge leads to pinwheeling, see linked video. Mods installed: Both DLC and below. All the mods are current according to CKAN 1.26.6. Those marked are pre-1.8.0: AutomatedScienceSampler Chatterer ChattererExtended ClickThroughBlocker CommunityDeltaVMaps DistantObject DistantObject-default DockingPortAlignmentIndicator EasyVesselSwitch EnvironmentalVisualEnhancements KerbalAlarmClock KerbalEngineerRedux KerboKatzUtilities ModuleManager NavballDockAlignIndCE PlanetShine PlanetShine-Config-Default RealTimeClock2 Scatterer Scatterer-config ScienceRelay StageRecovery StockVisualEnhancements SVE-MediumResolution SVE-Sunflare TacFuelBalancer TextureReplacer Toolbar ToolbarController Trajectories TransferWindowPlanner PRE-1.8.0 TriggerAu-Flags unBlur PRE-1.8.0 UNDOCKINATOR PRE-1.8.0 VaporVent WaypointManager xScienceContinued Reproduction steps: I have a station en route to Minmus. The station uses 2 of the hinges to deploy solar panels. Launched, extended and performed trans burn no problem. Switched to Space Center and a few Kerbal days later switched back. The result is here, sort of amusing (10 second video, about 14MB). Anyone seen this before and short of redesigning without the hinge, how can i fix it? My mod list is above in case one of these is the issue (I sort of doubt it.). Note that in the same game save I have a hinge in a shuttle as part of a grabber arm and it works fine. Update: Reduced mods to just these two, as they have parts on some of my craft. KerbalEngineerRedux (1.1.7.1) VaporVent (1.1.10) Switched to station and still pinwheeling. Homer
  3. I was wondering - is there a way to make this kind of contraption work? I would like to have a hinged telescopic arm support another hinged part so it can handle higher torque.
  4. Memory Mapped Files The closest example to this technique is kRPC, which I experimented with about a year ago when developing my F-22 drone racer. I discovered there was a significant delay between the server and client however. I was drawing a Vector3 representation every frame at my vessels position, which would fall further and further behind the craft as it's velocity increased. I have used Unity's uNet client and local server and have not experienced this lag before, which has me stumped on the cause. I would be interested to chat with someone who knows more about this mod, or anyone who has also experienced this. Because of the lag I was experiencing with kRPC, I decided to build my own "bridge" using Memory Mapped Files. These allow multiple processes to share memory space, which can be used to store several different types of data structures. While these are easily the fastest way to send data, there is one major complication for this project. Mmap files are only supported in .net 4+, while KSP targets 3.5. My solution to this is to start a custom process at launch, which handles the memory map "bridge", then I send/receive values via the process's i/o stream. This allows me to send hundreds of values back and forth each frame, at 50+ ksp fps, which is perfect for the time being. My next goal however is to send much larger data structures over the bridge. I really want to get camera feeds from KSP into Unity, so that I can begin implementing VR control into my mods. I have successfully sent a Texture 2D byte array from a camera across the bridge on a frame-by-frame basis, but the problem is when I need to incorporate the process i/o. Converting the array to a string every frame gives less then 2fps in Unity. The solution to this is to get mMap files working in .net 3.5. I tried many different ways before settling on the additional process, with no luck. I do have a potential solution however, but could use some input from any .net guru's out there. Inverse Kinematics The IK code is all custom, but it's pretty amature. I rely on SOHCAHTOA and the law of cosines for everything. Unity gives me a lot of cheats that aren't available in real time. Vector3.distance for example easily gives me the distance between two points. It all works though, and I plan to expand it out to more joints. The neck arm also allows rotational target matching. PID Controller Servos Each servo has it's own tunable PID loop which uses the error between the actual and IK servo angles as its process controller. This output sets the speed of the servo on a frame-by-frame basis. I only have a basic knowledge of PID tuning, so if anyone out there would like to share some advice it would be greatly appreciated. Gait Sequencing & Steering Right now the only gait sequence that exists is walking at a set speed. Steering is the last thing I still need to do. I wrote some simple stride length adjustment code, which allows setting the desired stride length for both the right and left legs at the beginning of each stride. The actual steering is adjusted by a PID loop which decreases one side's stride length by a percentage of its default length. So my stride length is 2 meters, and the steering PID can shorten that by up to 5%. Terrain Mapping & Active BalanceThe hexapod now has full terrain mapping and navigation capabilities. Instead of using the vessel height to position the ground and foot targets, each foot target is now placed on the ground directly beneath it.Each hip target is now set according to the ground position of it't foot. There are two ways of setting the hip targets. Right now the hip targets are set at the average height of all the foot ground positions plus the target height. I've realized since recording the video it would be best to just set the hip targets so that the vessel is always the target height above the ground. Or some combination of the two. The first method helps going up hill, while the second is preferable for down hill. Also setting the hip height half way between the highest (foot ground + target height) and the lowest would be the way to insure each foot has the best chance of hitting it's target when going over extremely rugged terrain.The vessel also knows if it is traversing up a hill, is level, or traversing down a hill, and sets the color of the ground accordingly. Right now nothing changes according to that, but eventually the gait will respond to the different slopes. I tried taking it out to the mountains but I still need to find a way to orient the gyroscope to a level surface, even when the launch point is not level. The triangle begin drawn on the ground represents the leg group that is actually moving the hexapod forward. VR Implimentation As soon as I can get the camera feed from KSP to display to a render texture in Unity, I will be able to start moving forward with VR implementations. I have several things that will be pretty easy to accomplish right off the bat. I will be able to have the robotic head match the rotation of the HMD head, and display the camera feed to a HUD. I will also be able to control the arms of the mech using touch controllers. I have some thoughts on getting VR to work natively in KSP as well. This has been done before, with mixed results. I'd like to see if I could do better. Collaboration and Testing Let me know if you'd like to contribute in any way. If you'd like to help and know any Unity/C# that would be great, but I could use help with tuning and design as well. There are a lot of variables that need to be tweaked, as well as design changes to the mechs themselves. Let me know if you have any interest in helping and I can probably find something for you to do. There is also the potential for a real life counterpart. This is something I would definitely need help with, as my hardware skills are almost non-existant. I am planing on buying a frame in the near future, and would love to have some help implementing my Unity controller in the real world. If this interests you, there is lots of info already on this thread page. TODO Veering while walking Turning in place Terrain Mapping Traversing slopes Quadrapod/Bipedal Mech Jumping/Extended flight Thanks for checking it out, lots more to come.
  5. One of the things I want as a difficulty option is for the robotic parts to not wobble, or maybe have a slider that controls how strong the joints are, and have locking joints eliminate all wobble. I've got 2 craft that suffer particularly from this problem: a GLaDOS replica, a little robotic rover with a little head and a mech with a rather primitive run cycle. GLaDOS and the rover sometimes end up headbutting the terrain if I drive them too fast and the mech can't support itself and ends up doing the splits on the floor. I've never used infernal robotics, but from the stability of some of the craft built using it, it appears people have a better time controlling craft that use the IR joints, while craft that use the official joints are floppier. What do you think?
  6. I've been trying to use the new robotic parts to make docking vessels on the ground (rovers) easier. I'm running into some unexpected behavior, which is causing my ground-docking attempts to fail. Often, explosions are involved. I'm wondering if others here have had success with what I'm trying to do. Without robotic parts, docking two vessels on the ground is frustrating, as everything has to line up perfectly. Often, what worked during testing doesn't work on a body with different gravity, or if the mass of one or both vessels changes. I'm trying to use the robotic arms to make docking vessels on the ground easy. Here's an example rover. Has a small servo, small hinge, small piston, another small hinge, and a Dock Port Jr. The arm has enough articulation and extension available to reach and align with docking ports at various heights. However, here's what happens. One vessel (sometimes both) is thrashed violently. Sometimes ends in explosions. Sometimes ends with one vessel flung away. This one is probably going to end with a bang.. What appears to be happening is during docking, one docking port instantly changes it's orientation, dragging the vessel it's attached to along with it. Here's one example: Here's another example. The docking ports were lined up perfectly, but ended up looking like this after they joined. I'm using a stock game, 1.7.2 (2555), with Making History and Breaking Ground, no mods. I've tried different size docking ports and robotic parts, with similar results. Auto struts is disabled (although I tried auto struts on as well). I'm stumped.
  7. I've been experimenting with the new robot parts, specifically pistons and hinges, as ways to either retract (using pistons) pairs of powered wheels into the body of an amphibious boat-base or lift them out of the water (using hinges); but I keep having problems. The pistons won't deploy at the same rate (even if they're set to the same rate and damping), they don't always extend to the full programmed length, and they just aren't very sturdy when extended. My hinged experiments have been much simpler, pairs of wheels attached to the hinges by the long girders, but when I trigger their action group they don't move. They swing up eventually, but not all of them. At the moment my experimental base has about 20 pairs of upswinging powered wheels, and maybe my computer can't handle so many movements. Has anyone else had better luck with retractable powered wheels? I'm trying to develop an amphibious base for Eve, so the wheels pretty much have to be the TR-2L Ruggedized wheels and the experimental bases mass in the 90 to 200 ton range. This is what I'm doing with hinges. And this is what I'm trying with pistons.
  8. What does the damping on the new pistons and hinges do?
  9. One of the first things I tried to do with the Breaking Ground is make a quadrupedal robot in a similar fashion to BostonDynamics SpotMini. It... works. Barely This version has a "Stand" and "Walk" function, with work-in-progress "Sprint" function. It's almost uncontrollable without reaction wheels, but that's likely due to poor programming on my part, of which was a pain to do. The main issue with this style of quadruped that I found is that the servos don't move quick enough to get any decent speed from it, though it does still work. Here is a video showing it walking: https://youtu.be/QLtOllMOOuU The craft file can be found here: https://steamcommunity.com/sharedfiles/filedetails/?id=1769266564 If anyone can make it work better, I'd love to see it!
  10. [Edit: For the updated stand-alone version of this tutorial, go here] So I started off getting my video recording & editing software back so I could make an animated GIF for reddit to showcase my robotics powered rover deployment system. But of course I ended up remembered how much fun doing videos can be, and wanted to share the method I found that took my programming time from 3+ hours to less than 1, so the 6+ hours I'd spent programming the arm & doing a comedy showcase GIF ended up spiraling into another 8+ hour editing session. I think it's my most polished video thus far; spent sooo much time working on the timing and ironically half way through editing I realised that if I used THE SAME METHOD that worked so well for the robotics programming I'd be done already. It was nice though, got the last bit done far faster ^^ Well, enjoy, I hope it is useful!
  11. So I had a thought today, "Would mecanum wheels work in KSP?" The answer is: Yes. They do, in fact, work. For those wondering what mecanum wheels are, they are wheels that allow lateral (sideways) movement. They are wheels that are made with smaller wheels/rollers around their circumference of them, canted at a 45 degree angle from their center axis. I made a short video demonstrating a drivetrain in KSP using them: https://www.youtube.com/watch?v=UbCuh1aUn1o& I'm not entirely sure what applications you could use this for in KSP, but it is interesting that they work in the game, and I thought I would share that. Have fun!
  12. The KAL-1000 is brilliant but it needs some work to make more complex contraptions. Specifically, we need a way to save/store/copy KAL tracks the same way we can save/store/copy subassemblies. Currently I haven't found any way to do this; even saving the entire craft then merging the save will have both KAL controllers talking to the originally-open version's servos. It's also super clunky to, say, replace a servo with a heavier version if the original didn't work, since you have to reprogram the new one from scratch. My proposal: Make KAL scripts persist when merging craft that contain them. As above, when cloning subassemblies that contain a KAL and all the parts it controls. As above, for subassemblies saved in the subassembly tray. Make KAL scripts persist even when the controlled subassembly is removed, and make it possible to assign another device to it. Feature (4) could work like this: When removing a controlled device, the corresponding field goes red in the action group window, with an "Assign" button appearing on it. When clicking on the "Assign" button, you're instructed to click on a device to link to it. When clicking on a device of a compatible type, it gets assigned to the field. All hinges, servos, pistons, and rotors are compatible with each other, but e.g. hinges aren't compatible with servos, nor servos with rotors. With these changes we could store KAL tracks like subassemblies, simply by saving the fully-programmed KAL as a subassembly, without its parts.
  13. I hope this hasn't been posted yet, didn't find anything. It would be nice to be able to add regular parts to the KAL robotics controller, like deployable solar panels, landing gear, etc. I'm trying to put solar panels on a hinge but they deploy too soon. Being able to sync them with the robotics stuff would be really useful.
  14. Explore the Kerbal Universe like never before with Kerbal Space Program: Breaking Ground, the latest expansion pack for KSP. Breaking Ground is all about exploration, experimentation, and technological breakthroughs. Study mysterious Surface Features on all of the moons and planets of the Solar System. Set up a base and deploy experiments for the long-term study of celestial bodies, and test your creativity with brand new robotic parts. Breaking Ground will help you and the Kerbals reach new horizons, all in the name of Science! Robotic Parts Take your creativity to the next level! Brand new robotic parts, include hinges, rotors, pistons and rotational servos. These parts come with new control mechanics and let you create all sorts of inventive vehicles and crazy contraptions to aid the Kerbals in exploring their Universe! Surface Features Find interesting Surface Features, like mineral formations, meteors, craters, and some even more curious planetary features across the solar system. Study them and collect valuable scientific data with a brand-new Rover Arm! Deployed Science Bring equipment for experiments with you from Kerbin and deploy them on the surface of a celestial body to take measurements over time. Set up a science station and put your crew to work. From seismometers to weather stations, there are plenty of experiments for you to try out! Additionally, we’ve kept our promise that all players who purchased the game through April 2013 will receive the expansion for free. To redeem the game click here and follow the instructions. Kerbal Space Program: Breaking Ground Expansion is now available on Steam, the KSP Store, and will soon be available on GOG and other third party resellers. Click here to enter the Grand Discussion Thread for this release. Happy launchings!
  15. So i recently installed infernal robotics and the janitor mod in the latest version. Yet the parts for infernal robotics show up but not the menu to move the parts and the menu for the janitors closet. Did i do something wrong?
  16. In the interest of creating a proper VTOL similar to the F-35C or Harrier, I've been trying to work on creating a powered, locking hinge assembly that would allow an engine to be undocked, rotated 90 degrees, and redocked, reversibly and repeatedly, using only action groups. I've worked on it for quite a while and I've never been able to get it perfect. Here's the closest I've come: So the challenge is this: create a rotating assembly, in stock, that uses action groups to complete a powered 90-degree rotation that can be repeated indefinitely. Level 1: Create and demonstrate only the assembly. Level 2. Demonstrate that engines can be affixed to your assembly. Level 3. Build a VTOL aircraft around your assembly and demonstrate liftoff, hovering, transition, translation, and vertical landing. Level 4. Build a VTOL SSTO around your assembly and demonstrate liftoff, hovering, transition, ascent, orbit, deorbit, re-entry, and vertical landing. Lowest-mass hinge assembly wins.
  17. i made a mech suit and made it look really nice (i think) and realized after a few tries that IR sequencer was deleting all my progress on "programming" a walk cycle i figured it must be a glitch and if someone could help me out by either helping me fix the problem or doing the suit's walk cycle for me that would be very much appreciated
  18. AXON Robotics Hello, and welcome to, er, this page. I've seen several people do craft repositories for their creations, and I thought I would do the same At the moment, the list of craft is quite small, and it's all military, but eventually, I'd like to expand it to include pure stock craft, such as scouting drones or submarines. Currently, I 'specialize' in making naval ships and planes, though I daresay the planes are better than the ships Anyways. Enjoy the craft, and if you try them out, make sure to tell me what you thought of them Naval Forces Renegade-Class Corvette Frigate Additional Planned Craft: Aerial Assets (The Lancers are hands down among my best planes) Lancer ASF Lancer – Strafe Axblade ASF Axblade – Strafe Berzerker 2.0 Ground Support (Nothing yet ) Space Combat (Also nothing....yet ) Thanks for reading. Feel free to ask questions
  19. Is there a mod that allows me to program actions ahead of time. For instance, I would like to use remote tech for added comms delay realism, but for it to work properly I need to be able to program a robot (which can range from a probe to a rover) to behave according to my specifications, given certain sensor or navigation inputs), effectively, robot programming. Is there a mod that allows me to do this? Does infrenal robotics do this?
  20. First of all, I know there already are mods that offer this. But the problem with them is control. Setting angles is not only hard, but it also takes way too long to do even the simplest tasks. But I have no problem with Infernal Robotics about that. After all, that mod isn't focused on just one thing. I'm looking for a robotic arm that would be much simplier to control. Ability to take a module from the station and move it to another node in less than 30min would be enough for me. Any mods/solutions?
  21. I'm trying to build a forklift/platform lift using the Klaw and the Infernal Robotics actuators. But regardless of where it is mounted, if the frame that the klaw is mounted to moves upwards, the klaw resists and deforms the frame.
  22. Im making a robotic arms pack and i cant figure out how to make attach nodes rotate with the parts. any help would be nice.
  23. You never forget your first Atlas encounter... Mechs are awesome. It is time for us to enjoy a mechanical challenge. Rules Build your mech, MUST BE A WALKING mech! No prebuilts. Run your hot lap on the Monolith Speedway Capture your mission time or video showing your best time. The Monolith Speedway - Grand Prix mod Mods Not Permitted: KOS, any automation beyond IR and its sequencer, self balancing mods. No Wheels Permitted: Beyond the above, any! You will need the below: Kerbal Konstructs: http://forum.kerbalspaceprogram.com/index.php?/topic/151818-12x-kerbal-konstructs-0989-12122016/#comment-2845610 Grand Prix: http://forum.kerbalspaceprogram.com/index.php?/topic/154680-12x-grand-prix-v10-1717/ Infernal Robotics: http://forum.kerbalspaceprogram.com/index.php?/topic/104535-112-magic-smoke-industries-infernal-robotics-202/#comment-1832577 Create your best bot. Race your fastest lap on the Monolith Track (in the Grand Prix mod). Record the time. Claim your place in the ranks of fastest robot. Some basic design help available here: https://youtu.be/ASpxnHd9ZdQ Categories: Bipeds Biped+ (more than two legs) Max two entries, one per entry per category. Laps should be in by Feb 10th! After Feb 10 the second leg begins.
  24. Not sure what is going on here. Using magic industries , tweakscale, community tech tree. (and a some more) The problem Tweakscale doesnt work. And no robotics, though i do got the robotics icon in my game screen (and also in the rocket build buildings) Also if i go to my science building also no robotics show up, where they should show in the research tree they're gone ?. And when creating a new game, it doesnt ask me what for techtree to use ??? (removing and adding tweakscale doesnt solve. I'm using latest KSP steam. And CKAN mod manager. installed mods : Community Resource Pack (CommunityResourcePack 0.5.2.0) Community Tech Tree (CommunityTechTree 1:2.4) Eskandare Heavy Industries (EskandareHeavyIndustries 1.0.12) Ferram Aerospace Research (FerramAerospaceResearch 3:0.15.6.5) Firespitter (Firespitter v7.2.4) Firespitter Core (FirespitterCore v7.2.4) Firespitter Resources config (FirespitterResourcesConfig v7.2.4) Karbonite (Karbonite 1:0.7.3.0) KarbonitePlus (KarbonitePlus 0.6.3.0) KSP AVC (KSP-AVC 1.1.6.1) Magic Smoke Industries Infernal Robotics (InfernalRobotics v2.0.4) MechJeb 2 (MechJeb2 2.5.7.0) MechJeb Embedded Universal (It's Free!) (MechJebEmbeddedUniversalFree 1.3) MKS Lite! (USI-MKSLite 0.4.3.0) ModularFlightIntegrator (ModularFlightIntegrator 1.1.4.0) Near Future Electrical Core (NearFutureElectrical-Core 0.7.4) Near Future Propulsion (NearFuturePropulsion 0.7.2) Near Future Solar (NearFutureSolar 0.6.1) Near Future Solar Core (NearFutureSolar-Core 0.6.1) SmokeScreen - Extended FX Plugin (SmokeScreen 2.6.15.0) USI Asteroid Recycling Technologies (USI-ART 1:0.8.3.0) USI Core (USI-Core 0.2.3.0) USI Exploration Pack (USI-EXP 0.5.3.0) USI Freight Transport Technologies (USI-FTT 0.5.3.0) USI Kolonization Core (USI-UKS-Shared 0.2.3.1) USI Life Support (USI-LS 0.4.3.1) USI Survival Pack (USI-SRV 0.5.3.0) USI Tools (USITools 0.7.2.1)
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