Tutorials and notes
Explanations of the methods I use, from robot kinematics to visual SLAM. Several posts have simulations you can play with. Video versions are on the AIBOMECH YouTube channel.
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Host a website for free with GitHub and Cloudflare, step by step
How to take a website from a folder of files to a live address with your own domain, HTTPS, free email forwarding and visitor statistics. Design, repository, Cloudflare deployment, domain, launch checklist and measuring, with the mistakes to avoid.
Tutorials15 min read -
Sending a designed HTML email from Gmail, explained simply
Why a beautiful email can arrive empty, what Gmail keeps and removes, two reliable ways to paste a designed email into Gmail, the three traps to avoid, and a short Python checker for your HTML.
Tutorials9 min read -
Dynamic Covariance Scaling, explained simply
How a SLAM system survives one wrong 'I've been here before': pose graphs, loop closures, why a single false loop closure can wreck a map, and how Dynamic Covariance Scaling (DCS) turns its volume down. A robot with a RealSense camera drives down a corridor to a lab and back, with every number from a runnable simulation.
SLAM15 min read -
The PID controller, explained simply
How a robot joint reaches exactly the angle you ask for: feedback, the three letters of PID as present, past and future, what each one does on a real move, how to tune the gains, and the three traps to avoid. With pictures from a simulation and short Python and Arduino code.
Control systems14 min read -
Automated hydroponic control system: design, programming and implementation
How a modular controller measures pH, TDS and climate, doses nutrients with a proportional loop, waits for the tank to mix, and protects the crop with safety blocks and alerts. With worked examples, sketches and Python code.
Embedded systems17 min read -
Introduction to robotics and AI
What a robot is, how AI differs from machine learning, where you already meet both in daily life, and the parts every robot is built from. Day 1 of the AIBOMECH Ramadan series.
AI4 min read -
Visual SLAM from theory to implementation
A study guide to Visual SLAM in 11 chapters: pose representation, Lie groups, camera models, nonlinear optimisation, feature-based and direct odometry, bundle adjustment, loop closure and dense mapping, with C++ sketches.
SLAM18 min read -
Keypoints, descriptors and feature matching for robotics
How Harris, FAST, SIFT and ORB find and describe image features, how nearest-neighbour matching and the ratio test pair them, and how a SLAM front end turns matches into robot motion. With Python and OpenCV code.
Computer vision11 min read -
Streaming ROS camera topics to a web browser
Set up web_video_server on ROS 1 or ROS 2, pick a stream format, build the stream URL, embed the feed in your own page and fix the usual connection problems.
ROS4 min read -
The mathematics behind robotics
The maths a roboticist actually uses: rigid-body dynamics, forward and inverse kinematics, Jacobians, Lagrangian mechanics, control theory, trajectory planning and state estimation.
Mathematics7 min read -
Artificial intelligence in robotics
Where AI sits in a robot: deep learning for perception, reinforcement learning for control, and what it takes to run these models on real hardware.
AI4 min read -
AI agents and agentic AI systems
How generative AI, single AI agents and multi-agent “agentic” systems differ, what each can do, and a staged way to bring them into an application.
AI4 min read -
Arduino development from concept to working robot
A practical path through Arduino for robotics: the board, the programming model, reading sensors, driving actuators and structuring a project.
Electronics4 min read -
Robot manipulator design, part 2: advanced topics
Workspace analysis, singularities, redundancy, performance measures and control strategies for robot arms.
Robotics4 min read -
Microcontrollers, the small computers inside every robot
What a microcontroller is, how its architecture and peripherals work, when you need an RTOS, and how to choose one for a robotics project.
Electronics4 min read -
Mechanisms and machine elements
Gears, linkages, cams, belts and chains: the mechanical building blocks that turn a motor’s rotation into the motion a machine needs.
Mechanical4 min read -
Robot manipulator design, part 1: fundamentals
Degrees of freedom, joint types, common arm architectures and how to pick a configuration for a task.
Robotics3 min read -
Robot kinematics and dynamics
The parts of a robot arm, forward and inverse kinematics, the Jacobian, and how dynamics links joint torques to motion.
Robotics4 min read