Timeline for Robot Position Control on Treadmill
Current License: CC BY-SA 3.0
5 events
| when toggle format | what | by | license | comment | |
|---|---|---|---|---|---|
| Sep 27, 2017 at 17:19 | vote | accept | Robotics nerd | ||
| Sep 27, 2017 at 14:18 | comment | added | st2000 | Oh, I had it backwards. Ok, yes - but don't literally divide the position by time. Take a position measurement, then, at a fixed time later, take another and find the difference. The change in the position is your velocity with respect to the treadmill. Then add (or subtract) this (depending on how you are doing your math) to the value you use to control the speed of your treadmill. Be wary of under (adjustments are too fast or large causing osculations) or over (adjustments are too delayed or small causing the robot to fall off) dampened scenarios. | |
| Sep 27, 2017 at 6:30 | comment | added | Robotics nerd | Ok, so I take the sensor values from the distance sensor and divide by a fixed time, say the sampling time. This would give me the velocity of the robot on the treadmill or how fast is the robot moving away from the distance sensor. This velocity would be fed to the speed controller as a set point for the treadmill and the treadmill moves with the same velocity as the robot. Am I correct in understanding your suggestion ? I can only correct the velocity of the treadmill and not the robot. Robot should move with a fixed velocity. | |
| Sep 27, 2017 at 3:29 | history | edited | st2000 | CC BY-SA 3.0 |
Corrected answer, added "change in the" distance.
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| Sep 26, 2017 at 14:47 | history | answered | st2000 | CC BY-SA 3.0 |