Questions tagged [control]
A method or device to manage, command or regulate some part of a system.
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Is every state space model transformable to transfer function and vice versa?
I'm looking for a mathematical proof or example of non tranformable model, and I couldn't find any.
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39 views
What is the correct architecture of quadcopter control?
I want to make a quadcopter flight controller for my University project. Lately I was searching for systematic architecture of control system used by quadrotors. I have implemented one of the ...
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2answers
26 views
irobot create 2: random changes in driving speed
I am trying to make the Create2 dance a specific choreography. I´m not using the sensors, I just let it drive and turn for a specific amount of time. In general it works fine.
But after working with ...
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1answer
25 views
difference between non-holonomic and linear control systems
I already asked this question in the mathoverflow forum, but no one could answer. Probably it is not a question of mathematics but robotics.
I'm struggling with the definitions and differences between ...
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18 views
Relation between control and reinforcement learning
Has the relation between Control and reinforcement learning been studied by the scientific community? I would like to read credible studies about each ones pros and cons when it comes to control ...
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1answer
31 views
What can a Point-to-Point Robot do?
What are point-to-point controlled robots actually good for? Only pick and place tasks?
Since continuous path controlled manipulators can do anything a p2p robot can do, plus tasks that require a &...
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14 views
PID on DC motor turning on both directions
I have a skid steer robot where I have four individual DC motors with an H bridge so I can control speed and direction. There are also four quadrature encoders with 6000 ticks per revolution.
The ...
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1answer
22 views
Is it possible to control a 5 DOF manipulator in the 6 DOF Task Space?
I am referring to pre-computed torque control techniques that are based on the Task Space dynamic model.
Maybe by using pseudo-inverse for the Jacobian and the task space inertia matrix ?
Cheers,
...
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1answer
32 views
Real Time Motion Control [closed]
How is real time control normally handled? Do you run a separate motor control unit which has its own RTOS or is there some other way?
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2answers
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Cartesian Velocity Control between Two 3D Poses
I am really struggling to understand how to do Cartesian velocity control when 3D rotations are involved. So, below is a very simple example which I am hoping somebody can help me with.
Let's say the ...
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0answers
37 views
output velocity equation of compliance control
I am trying to implement a compliance controller for a robot arm and stumbled upon an existing code snippet where the compliance velocity of the endeffector is calculated by:
$v_{out} = v_{in} + \frac{...
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2answers
46 views
How do I get competent in using c++ for my projects? [closed]
I am a PhD student, working on Sensor Fusion and estimation problems. I would like as I finish my PhD to have acquired sound knowledge in what seems to be the industry norm for working with real ...
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1answer
23 views
Given this old pin diagram and numbers on this old encoder, what would be a suitable modern encoder to use?
My place of work has recently acquired a Hydraulic Press Break from the 80's. It has a CNC controlled back stop which is driven by a DC motor and Screw drive. The encoder which couples to the motor ...
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1answer
90 views
Why can't the Controller Spawner find the expected controller_manager ROS interface?
I have a quadruped robot with base link (BL), 4 child links called LFT, LFT, RFT, RFT, T for thigh and each having 4 children with name LFC, LBC, RFC, RBC, C for Calf. 8 joints - Base link to 4 thighs ...
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13 views
problem in understanding this part of the RRTx path finding algorithm
this is a paragraph from the paper of the RRTx algorithm
and below it a figure referenced in the paragraph
however the No and Nr nodes types are unclear to me what are they exactly ?
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1answer
33 views
Can ROS be an alternative for a KFLOP or RUMBA Board?
I have a few questions about controlling robot arm motion. I see that some have used Dynomotion KFLOP and other CNC motion controllers to control arms. Some have used Rumba board as well as several ...
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34 views
Quaternionic feedback for for cartesian impedance control
I've seen that there are plenty of ways of generating orientation errors with quaternions. But the one I've seen most often is the following:
For example, say that for a quaternion $Q = \{\eta, \...
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1answer
40 views
Feed both position and speed errors to one single PID
I have seen in the documentation of an old subcontractor's product that the controller of a robotic arm joint was basically feeding error position + error rate directly into one single PID.
It feels ...
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1answer
69 views
Cartesian Impedance control Damping Design (Double Diagonalization)
In the literature, it is often seen that for a system:
\begin{align}
\Lambda \ddot{e} + D_d \dot{e} + K_d e = F_{ext}
\end{align}
A dynamic damping matrix is required for a robot to take ...
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2answers
36 views
HTTP requestes for Robot Teleoperation
I'm new to this forum so I apologise if I disrespect some rules. I am considering using HTTP requests to control a robot remotely. The design problem I am trying to solve is that I would like to ...
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1answer
24 views
Robust Controls of Quadcopter
Can anybody please guide me about the robust modeling and control of a quadcopter. Where can i find the robust modeling that can be understandable for me as i am a undergraduate student. I am doing ...
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21 views
What are the uncertainites in the Quadcopter model for which we make a Robust Controller?
A quadcopter model may have some uncertainties for which we usually use a robust control.
Can please someone specifies some uncertainties? like for what kind of uncertainties do we make a robust ...
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24 views
Controller Design Using Webots! (Heading, Velocity, tilt,balance)
I am trying to design and implement certain controllers for a robot. I am currently designing controllers for the robot, where it aims to control the Heading, Velocity, Tilt, Balance of the robot. ...
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58 views
Measurements of IMU (accelerometer and gyroscope) are drifted or with too much error
I placed my drone on a table (i.e, at rest) and save (using a ROS topic) the IMU readings:
As you can see, there's a lot of drift or error. I would expect the $x$ and $y$ acceleration to be 0 (I know ...
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18 views
On a multirotor, how effective is braiding of power wires from the ESC to the BLDC Motor(s) in reducing or eliminate emf?
Assuming BLDC motors with the ESC positioned at the 'worst cased' (furthest distance) with longest power wires between the ESC and the motor, will braiding these three wires reduce the EMF that would ...
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28 views
Robot dynamic control
This can be a basic question but according to my knowledge I don’t know answer.
We can use control system theories to control the position of motor. Considering two motor joint leg it can model and ...
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66 views
How can I modeling a simple haptic interface system to obtain results similar to the paper “Time-Domain Passivity Control of Haptic Interfaces”?
I am trying to simulate the experiments in the paper "Time-Domain Passivity Control of Haptic Interfaces", Hanaford and Ryu, 2002, IEEE transactions on robotics and automation vol .18, No1 about the ...
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1answer
28 views
Control a servo (two position 180-degree swing) with an On/Off switch without microcontrollers [closed]
For my application, I need to be able to control a servo with a simple on/off switch. When it's off (pulled LOW), I need to servo to go at -90 degrees and stay there - possibly for a prolonged time. ...
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1answer
60 views
Matlab Simulation using Webots!
I am trying to run this youbot ( sample world) from webots, where the controller is implemented in MATLAB, on running the code it pops out the following error seen in the picture attached. I have also ...
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1answer
46 views
Controller Design using Webots!
I am trying to work on a Digital Twin of a Physical Robot which is used at my uni. I made a rough model of the robot using Webots (Open source). I need to design certain controllers aiming at the Tilt,...
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1answer
35 views
How to create a Complementary Filter for a linearly accelerating body to obtain estimate of orientation in quaternion?
A complementary filter (CF) uses orientation obtained calculated from gyroscope, accelerometer and magnetometer to find a more accurate measurement of orientation.
However, when my sensor is ...
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1answer
54 views
Is it possible to track position using gyroscope and accelerometer without a magnetometer?
I'm looking for help on a project where I will be placing sensor data in 3D space using augmented reality. Most solutions I have found for finding position with an IMU involve the magnetometer, but ...
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6 views
Can badly tuned Feedforward still decrease following error?
Let's say we're trying to control the speed of a motor to 20 revs/sec, and we know that our controller output for that speed is approximately 5. We currently have a Proportional controller to drive ...
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1answer
54 views
What is a low level controller for a quadrotor?
I am studying control systems, and I was reading a paper about quadrotors. In the paper it is said that in the platform of the robot it has to be present a low level controller.
But what is a low ...
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1answer
22 views
DC motors are stalling at low voltage (L298N controller)
I'm building a small tracked robot. Currently it's just a Raspberry Pi, two motors and an L298N controller.
The problem I'm facing is that the motors are stalling at low voltages (which is what I ...
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1answer
26 views
Self motion with multiple constraints
I am trying to control a 7 DOF robot (a Franka Panda). I use jacobian based control (resolved rate motion control) to generate a joint trajectory from a cartesian trajectory.
My contraints for the ...
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1answer
28 views
Using Integral gain for motor positioning
I'm struggling to see how Integral gain is used for motor positioning (with an encoder on the shaft).
Suppose we have an AC motor connected to a winch which drives an object forwards and backwards. ...
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0answers
15 views
Use polynomials to detach number of MPC controls from size of time-horizon?
Model Predictive Control (MPC) works by finding a set of controls $u_0, \dots, u_n$ that minimize a cost function $J$ over a time-horizon $[t, t + T]$. Typically when MPC is used on mobile robots, ...
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1answer
17 views
Numeric integration problem in a quadrotor vertical descend code
I'm trying to implement a drone in vertical descend. As for maximum simplification, I maintain all its angles to 0, and just try to get to the my desired descend. However, when I debug, I see that my ...
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26 views
Link collision avoidance for redundant manipulator
I am trying to have my robot arm follow a trajectory while avoiding collisions between obstacles and the robot links. The way I go about it is to find the closest point on the robot arm, and treat the ...
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1answer
34 views
Good Software Projects for Aspiring Engineers [closed]
With the pandemic going on, our school has decided to officially shutdown all sponsored club meetings. Now that we are all digital, our robotics club was looking for projects that students can do at ...
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1answer
38 views
How do I convert centre-returning joystick values to dual hobby-motor direction?
Currently my setup is:
2x hobby TT motors connected to a Pi Zero with a motor HAT
Python script running on the Pi which runs a Blynk python client and controls
motors via the gpiozero library
Blynk ...
2
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1answer
35 views
How do “process gain” and “proportional gain” affect the Steady State Error in a PID Controlled machine?
I came across this doubt while reading the Wikipedia page on PID Control. The section on Steady-state error states:
Steady-state error (SSE) is proportional to the process gain and
inversely ...
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0answers
12 views
discrete control in continuous spaces
I asked this question on AI stack exchange but didn't get a response.
Basically I'm interested in how you deal with inherent error between your ideal discrete state and your actual state in control ...
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1answer
33 views
How to design a controller for a robotic arm given two velocity profiles
See image for reference:
Essentially I have a robotic arm with two linear actuators. Lets say, for example, I wanted the endpoint on the arm (where you see the stepper motors) to move purely in the x ...
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0answers
42 views
PD controller tuning for flexible joint robotic arm
I am trying to tune the gains of my PD controller for a single axis flexible joint robot. The controller output is the motor torque. My question is: how can i tune the PD gains if the output (torque) ...
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2answers
31 views
What should be the ideal ratio for link lengths ( L1/ L2) of a 2 link manipuator robot with revolute joints?
I am working on making a CAD model of a two link robotic manipulator, with link lengths around 15-20 cm. I am unable to figure how to set their mutual ratio and I want to know whether there is some ...
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1answer
30 views
Why applied joint torque will affect another joint?
I want to ask a very simple question.
For the robot dynamics Newton-Euler algorithm, suppose there is a two-link planar robot, we can write the simple dynamic equation form as $M(\theta)\ddot{\theta} ...
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1answer
139 views
Understanding Impedance Control
I have a question regarding impedance control for a robotic manipulator.
Given that we have a task space trajectory:
$\ddot{x}$, $\dot{x}$ and $x$
And the dynamics model of the robot:
$$\tau = M(q)\...
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0answers
11 views
Increase frequency of status messages from UR5
I know the UR5 is sending me messages with its status (I can't yet understand them though, but I'm already working on that). However, they are too far apart to be useful: It sends them every 0.1 s. ...
