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# Questions tagged [control]

A method or device to manage, command or regulate some part of a system.

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19 views

### Non-linear MIMO system inverted pendulum controller [closed]

We have a big problem. We are trying to work on a controllable inverted pendulum, however we are stuck. We want to control all angles, using the fact that we can control all torques. The differential ...
17 views

### implement torque control on a robot with some joints supporting torque control while others only supporting velocity control [closed]

I have a robot, some joints of which supports torque control,while the rest only supports velocity control. What should I do to implement torque control on the whole system?
38 views

### What are some recommended mathematical courses to understand robotic systems? [closed]

I would like to know what mathematical courses would help me understand robots better. Certain mathematical concepts seem important to know because I have heard roboticists talking about them. For ...
49 views

### Why are the angular velocities of concentrated masses in Lagrangian independent?

There is an ordinary linear three-mass system. If we write its Lagrangian, we get the following equation. where $W_k$ and $W_n$ - kinetic and potential energy. To find the moment of rotation of the ...
29 views

### Robot-telescope prototype controlled by a PC

Has anyone developed mechatronic systems for DIY-telescopes running a PC? Please share your experience, knowledge and nuances (how you acquired current sensors, speeds, electric motors, about ...
53 views

### Dynamic models of parallel robots in the form of multi-mass systems with stiffness coefficients

I want to develop a dynamic model of a parallel robot for control tasks. It is known that equations of motion based on Lagrange equations can be transformed into a state space and use such a model. ...
63 views

### Modeling of Robots

There are mainly two approaches for controlling robots (mobile robots and static robots): 1) working with kinematic equations, controlling joint or wheel speeds , 2) working with dynamic equations and ...
11 views

### Extract Coriolis matrix from Coriolis*q-dot vector multiplication

I have been using matlab to do some robotics simulation. I am able to Create the forward kinematics with transformation matrices Create the jacobian matrix Find joint velocities Create the ...
23 views

### MAV drifting away from its takeoff position

I am working on MAV control in GPS denied environment using px4flow and Lidar sensor.While in simulation and during experiments on real vehicle, MAV doesnt stay at its position and drifts in random ...
22 views

### About the commonly used equation of distributed consensus of multi-vehicle systems, is this form correct?

$\dot \epsilon = -(L_{n}\otimes I_{m})*\epsilon$ This equation is commonly cited in works about the distributed consensus of cooperative control. In fact, it's the matrix form of the basic consensus ...
20 views

### How to avoid singularity in ABB robots while using it with EGM (externally guided motion)

I am using the IRB120 robot and controlling it with Azure Kinect body tracking data. I am using EGM as an interface to pass the data from kinect to the ABB robot. But here sometimes the robot stops ...
50 views

### Implementation of Velocity Control Algorithm Based on PID

I'm very familiar with the traditional position form of PID. The error is just the difference between some setpoint encoder value and the current encoder value. Although this suffices for basic ...
82 views

### Motion Planning vs. Control

Often I see positions for robotics companies split into planning and controls engineers. But motion planning and controls seem to have a lot of overlap. As I understand in motion planning the ...
60 views

Is it wise / possible to use multithreading to handle control system on robot? For example, a line follower robot with PID control flowchart would be: read_sensor() -> calculate_control() -> ...
78 views

### Why am I unable to tune the PID parameters on my quadcopter?

I am building a nano quadcopter in X-Configuration with coreless DC motors, 65mm 2 blade propellers and a 1S Lipo battery (860mAh, 25C). The weight of the assembly is around 70g in total. I am ...
49 views

### Control loop in or outside of main loop

I've been working on some small projects for fun to learn more control theory things and embedded programming. Thank the esp32 and Arduino! Either way I've been programming everything entirely in a ...
50 views

### Is it possible to make a self balancing robot using small or medium scale integrated circuits?

Almost all the information I've seen about self-balancing robots implies the use of an Arduino to implement the control. I'm wondering if it is possible to implement the control using just small or ...
83 views

### Inverted pendulum controller

I had an exam yesterday, and I was asked the following question: Why PID controller is necessary for stabilizing the inverted pendulum on a cart, why not we just use PI or PD? Now I've seen some ...
28 views

### What is the Control mixer block that is usually found in control schemes?

There is usually a control mixer block in control schemes in robotics. What is it and what is the functionality and where can I read more about it. Reference to the paper: https://giuseppesilano.net/...
62 views

### Compensator design

I got a plant $G(s)=\left(0.13s+1\right)/s^2$ to design a compensator which provides below demands: Settling time : max 2s Overshoot : max %35 Gain margin : min 10 dB Phase margin : min 30 deg ...
10 views

### How does TTS TacTile Code Reader work?

This is the TTS TacTile Code Reader: https://www.tts-international.com/tactile-code-reader/1010494.html?cgid=Primary-Computing_--_ICT-Bee-Bot_Blue-Bot_--_Pro-Bot There aren't any connection pins, I ...
54 views

### feedback linearization for a quadrotor

I am trying to develop a controller for a quadrotor using dynamic feedback linearization technique, but I am not sure I am doing thigs correctly. I know that for designing such controller I have to ...
114 views

### How to control the velocity of a mobile robot?

I have a differential drive robot whose linear velocity and angular velocity is to be controlled. The current strategy for doing that is: A high level path tracking module spits out the reference ...
50 views

### Partial CoM, the velocity Jacobian and Control

New to robotic arms here. I am currently working with a 6-DOF robotic arm shown below: I have derived the FWD Kinematics and mapped the joint angles and the resulting end-effector positions. When I ...
35 views

### value of $\gamma$ in the H-infinity norm

Suppose I have the system: $\dot{x} = Ax+Bu$ $y=Cx+Du$ and the following Hamiltonian matrix: $H=\begin{pmatrix} A & \frac{1}{2}B^TB\\ -CC^T&-A \end{pmatrix}$ I want to find the value ...
38 views

### Finding transfer function from bode plot

I try to estimate a system transfer function by hand calculation from a bode plot data but I could not succeed yet and I need someone help. it will be appreciated if anyone explains or refer me to a ...
46 views

### Block algebra and normal algebra inconsistent

I've been playing around with some block maths, mostly trying to remember how it actually works, and I've come to a simple example that should be reduced, however when doing the normal maths, compared ...
52 views

### Why would I use three state variables for a second order system? [state space modeling]

I'm currently being asked to write a state space model of a falling object (equation attached). I had taken a linear systems course five years ago in which I did a lot of conversion between high ...
27 views

### Constant Offset matrix

I've been reading about controlling systems via momentum wheels. Such as in Satellites, or fancy inverse pendulums. In a particular paper, the writer tries to explain away an offset and settling of ...
26 views

### Autonomous quadcopter: How to transform setpoint into motor inputs?

I would like to know how to transform a setpoint to inputs for the motors of a quadcopter. I would like a function like that: ...
157 views

### teleop_twist_joy with Logitech F710 Joystick force feedback error

I am using a Logitech F710 joystick game controller in ROS Kinetic Kame. I was able to perform jstest testing, and can see my joystick works well. But when I try ...
32 views

### Relation between PWM frequency and torque

I am using Pololu G2 18v15 to drive a maxon motor. The motor is supposed to drive a load in a sinusoidal trajectory against gravity with maximum torque of 0.0634 NM with max speed of 5 rpm. I am using ...
92 views

### Why is behavior-based robotics not as popular as deep learning or reinforcement learning?

I am a master student in Germany and one of our professors is doing robotics research but with a different paradigm - the behavior-based robotics based on Subsumption Architecture developed by prof. ...
40 views

### For what step disturbance value the system will become unstable?

I am new to control theory and have difficulties about this question R is the input, Td is the disturbance, C is the output Given that G1=K/(s^2+A*s), where K is the gain and A is a parameter greater ...
20 views

### How to make x variable change each time and read its value from txt file

I am working on my undergraduate project and this is my first time in using use python to control parrot bebop 2 drone and use BCI or BMI technology. I have x variable (int) and I want to read its ...
28 views

### Do I have to use the CAN protocol that the motor controller uses in order to communicate with it?

I have a question about using the CAN bus to control motor controllers. Do I have to use the CAN protocol that the motor controller uses, e.g. CANopen CiA DS 301 CiA profile 402, in order to ...
38 views

### Fuzzy logic controller for controlling a four-bar linkage

I am trying to design a control system to move a joint of four bar linkage according to desired trajectory. A dc-motor is used to move the joint. Can fuzzy logic controller be used to solve this ...
62 views

### Simple explanation of PID control [duplicate]

I tried reading and searching different books and links for understanding PID control but not much progress Can some one please give me simple explanation of PID control?or atleast links where easy ...
184 views

### Control VS artificial intelligence?

I have heard of both the terms AI (artificial intelligence) based robots and control based robots. Although they are both different fields, what is the difference between AI and control in regards to ...
23 views

### Max motor voltage for RoboClaw controller

The RoboClaw data sheet from ServoCity mentions various current limits, but what about voltage? Can I run a 110 Vdc treadmill motor?
36 views

### Sampling time selection

I'm trying to design a compensator for a pendulum type plant with arduino mega. As you can see from the picture, the system bandwidth is 9 rad/sec. I calculated the sampling time as ws=10*wb=90, so, ...
44 views

### PID control: zero out integral on error sign change?

I am learning about PID as a novice to robotics (background in software engineering). One common problem with PID is that if the PV is below the SP for a long time, integral term will accumulate a ...
109 views

### moveit! trajectory execution aborted

I'm trying to send a custom arm to a pose through moveit_commander_cmdline.py, it fails after sending to the said pose using " go default_pose" and returns an error. ...
33 views

### Joint torque sensor vs end-effector force sensor

I am trying to understand the difference between joint torque sensors, and force sensors, in a robot arm. From what I understand, joint torque sensors estimate the torque at each joint, whereas a ...
25 views

### Transform this matrix of distances into a more general one

I need to make the navigation and guidance of a vehicle (a quadcopter) in a platform. This platform can be seen like this: where the blue dots are the center of each square, and the $x$ distances are ...
40 views

### Force Controller for robotic manipulation

I want to implement a force controller but I don't understand some concepts here. I saw some books that say the output torque command of the force controller and the impedance controller will be ...
17 views

### Trajectory tracking problem for non-holonomic mobile robots

Currently, I am working on the trajectory tracking problems of autonomous ground vehicle and a little confused about the applicability of control theory for different types of wheeled mobile robots. ...
61 views

### Which controller (PI or PD) is generally more robust to noisy sensor measurements and why?

Assuming no filter is used to measure error (or rate of change in error) with respect to a desired state, would a PI controller more/less/about equally robust to signal input noise compared to a PD ...
When setting up an optimal control problem using a linear quadratic regulator, one often chooses semi-definite matrices Q and R such that the objective function J has the form J=\int_{t_0}^{t_f}(...