A method or device to manage, command or regulate some part of a system.
2
votes
2answers
27 views
Meaning of a negative step response with quaternion
It's not technically robotics but:
I've been trying to reproduce in Simulink a spacecraft attitude simulation using quaternions, and the kinematics and dynamics seem to work fine, however I'm having ...
-2
votes
0answers
12 views
Looking fo the electronics to control a gyro wheel [closed]
Looking for an open source code and electronics
To control a gyro wheel like in this link please
https://youtu.be/bI06lujiD7E
0
votes
1answer
19 views
stable altitude quadcopter
I'm currently working on a project to generate a stable altitude and automatic control for a quadcopter
I'm using arduino as the flight controller
Ultrasonic sensor HC-SR04
MPU-6050
However my ...
1
vote
1answer
30 views
Quad-rotor 1-D Linear Control Simulation with MATLAB
I was Performing Programming Assignment with MATLAB for Quad Thrust and Height for an Introductory Course. The control input for a PD controller was According to the Equation
u = mass*(diff(s_des, 2)...
0
votes
1answer
22 views
Could a quadrocopter still be controllable if its payload was wider than the quadrocopter?
Lets say a quadrocopter's rotors are 2 feet apart, and 2 feet beneath it is attached a symmetrical, balanced payload that was x feet wide (with space for air from the rotors to move through) - if the ...
2
votes
1answer
25 views
Creating linear end effector motion using joint speeds: Converting tool speed to joint speeds
Background Information: I'm new to robotics and my school currently has access to a 6DOF Universal Robot (UR-10). I'm programming it using its scripting language URscript and the arm has these two ...
1
vote
0answers
17 views
Trajectory following using LQR - Setting horizon time and intermediate points
I was going through UC Berkeley's CS287 - Advanced Robotics course. In particular - Optimal Control for
Linear Dynamical Systems and Quadratic Cost
(“LQR”)
by Pieter Abbeel (Slide 10).
Let us say we ...
0
votes
1answer
31 views
Control Pneumatic Cylinder Position with Potentiometer and Analog Comparator on Arduino Uno
I am building a robot arm that is actuated by a pneumatic cylinder. Extending and retracting the piston would increase and decrease the joint angle respectively. This is done using a 5/3 solenoid ...
1
vote
1answer
45 views
Math behind trajectory 2d planning
I have a case of a differential drive robot and a control system in a two-dimensional environment:
Now the problem: we would like to make our particle move from point A to point B, and from there to ...
2
votes
1answer
53 views
Is orocos dead?
We are using orocos on the robot we have been developing for 3 years now and I have the feeling that Orocos is no longer maintained and the mailing lists are not only no longer active but also it is ...
0
votes
0answers
21 views
Sensored BLDC motor (sometimes) needs push to get started
I'm having a sensored BLDC motor (12V version though) connected to a suitable motor controller and powered through a 25A regulated power supply With an Arduino I'm able to control the motor just fine. ...
0
votes
1answer
21 views
Motorised Stage for laser
The problem
I want to be able to move the direction a laser is pointing.
This means I need to have motorised rotation of the laser head in the x direction and in the y direction. I am unsure of the ...
1
vote
1answer
51 views
Alternatives to Finite State Machines (FSM's)?
In Udacity's Self-Driving Car Engineer online course, one instructor claims that "[Finite State Machines are] not necessarily the most common [approach for behavior planning] anymore, for reasons we ...
1
vote
1answer
44 views
Pictures coordinates to robot coordinates
I have a picture on my C# software and the corresponding object in real world on 2d plane of motorized XY axis table. What I want is when I select a pixel on my picture, the motorized table should be ...
0
votes
2answers
34 views
Pole placement of the observer closed loop system (A-LC) in discrete system
*I'm rewriting the question after I deleted the previous one because I wasn't clear enough. Hope it's fair
Given a system of the general form:
\begin{align}
x_{[k+1]} &= A\,x_{[k]} + B\,u_{[k]} \...
1
vote
1answer
76 views
Dynamic model using identification for control
I'm currently working of a 5 DOF robot, for which i'd like to compute the dynamic model through identification. I have experimental data representing torques (inputs) and positions (outputs). How can ...
0
votes
1answer
33 views
zero-g mode for UR10 gravity compensation
I would like to freely move my UR10 arm in response to an external force, just like the zero-g mode for Baxter robot, which can be activated by holding its wrist. The Baxter documentation on zero-g ...
0
votes
0answers
30 views
LQR Robotic Arm
I have a robotic arm model in Simulink and I'd like to control the position of the end-effector such that it follows a given trajectory. This is done by inputting joint angles and comparing the output ...
0
votes
1answer
26 views
Obstacle Avoidance: Detection of goal inside the obstacle
It is easy to understand how a robot can avoid obstacle if the goal point is not within the obstacle (Point A) as shown in the figure. But I'm curious how could a robot know that the the goal point is ...
0
votes
1answer
41 views
Inter-robot Collision Avoidance
I try to understand some MATLAB code (see below) i found from the web for inter-robot collision avoidance. But I'm not really understand, how the theory behind this code work. Can anyone help me ...
0
votes
1answer
59 views
Quadcopter mathematical model and controller design
if we just examine the translational dynamics (X and Y direction), the dynamics are coupled, So if I want to design a PID controller to control the position, the outcome will be unpredictable because ...
0
votes
0answers
12 views
Simulation of error in following trajectory for robot manipulator
I am working on a surgical manipulator project where I have optimized the link lengths of the manipulator for maximum isotropy. Does the maximum isotropy reduces the error in following predefined ...
0
votes
0answers
19 views
Designing systems for sharing resources on multiple SOC's
I have some Raspberry Pi's from previous projects/learning and I would like to pool their resources to make a differential drive robot.
Two Pi's would have one camera each for a vision system, one ...
0
votes
0answers
8 views
How to determine sampling time, acceptable dead-time to reject output disturbances in FO- and SOPDT models?
I have a few questions regarding sampling time, dead-time, and output disturbance rejection.
Given a typical first-order plus dead-time model:
$$P = {Kexp^{-sL} \over T_ps+1}.$$
I would like to ...
1
vote
0answers
34 views
Quadcopter bldc PID control
Working on stabilizing a Quad using Arduino Due. I have slightly modified one of the examples of Jeff Rowberg's library to give yaw, pitch and roll angles (zero initialized angles). Moreover, I am ...
0
votes
0answers
10 views
Driver requirements to control reaction force
I have a cable that is rigidly attached at one end and connected to the robot arm (UR10) effector at the other end.
I would like to increase the tension in the cable by pulling the robot effector. ...
0
votes
1answer
45 views
State space model
I want to design a LQR controller for my two wheeled mobile robot. While designing the controller, I need to find gain, K for the LQR which this required the state space model of wheeled mobile robot. ...
2
votes
0answers
13 views
Torque commands for velocity reference motor
I have a controller board for a motor, where I can read the motor current (to transform to torque), the position, the velocity and I can give a velocity command. There is not really a torque mode on ...
0
votes
0answers
12 views
Some Question about TOSHIBA robot
TS Series robot
what is the "Point Position"
what is the "posture"
I want to know what the meaning of each location information means.
6-axis (x,y,z,a,b,c,u,v)
SCARA (x,y,z,c,t)
what is the "...
0
votes
0answers
42 views
Creating transfer FNC
im working on controlling a 2 link arm with simulink, and wanted to try torque control.
I've built a trajectory generation function in matlab and it gives me the position that the joint needs to be in ...
0
votes
2answers
33 views
Controlling a servocity planetary motor?
I know this might sound like a stupid question, but I actually need help with this. So, I'm looking at this motor: https://www.servocity.com/2737-rpm-premium-planetary-gear-motor.
I have a raspberry ...
0
votes
2answers
57 views
How to start as a control system engineer and to make advanced projects using PID [closed]
I am new to the field of control systems, PID and robotics and I want to enhance my knowledge in the field. Can you recommend me books where I can start learning about control system engineering (with ...
0
votes
0answers
22 views
Linear Actuator
I'm having some technical issues with the SDA6-263 and SDA12-263. The problem I'm having is the same for both actuators.
This is the list of my equipment for my setup.
Sabertooth 2x32 (https://www....
2
votes
1answer
36 views
Making a tunnel follower robot with 2 IR side sensors and 1 ultrasonic sensor
We have a tunnel and the distance from the walls to the robot is about 30cm when the robot is centered, the tunnel curves to the right. The robot has an infrared sensor on its left and one on its ...
1
vote
1answer
35 views
Strange phase case in Bode diagram of a transfer function [closed]
Please help me to solve my problem:
This is the transfer function: $G(s)=10\frac{(s^2+1)(s-10)}{s(s+0.1)(s^2+2s+100)}$
I calculated properly the whole Bode diagram apart from the phase of the complex ...
0
votes
2answers
39 views
Powering Off Main Processor Without Software shutdown
I am building a robot that uses an Intel NUC (running ArchLinux) as its main processing unit to run some machine learning and ROS programs scripts. One of the requirements for the robot is that it ...
-1
votes
1answer
53 views
Control geared DC motor based on timing?
According to this video from Khan Academy about electronics of a DVD drive the position of the sled (which moves the reading head) is controlled by a geared DC motor by using only timing and one end-...
0
votes
1answer
63 views
Quadrotor 2D Dynamics
I am trying to understand the control of the quadrotor in 2 dimensions from the Penn course on aerial robotics. The attached image describes the linearization of the control efforts assuming that the ...
5
votes
0answers
169 views
Robot arm energy and stability optimization
For a project I need to come up with two constraint optimization problems in robotics. The task of the robot is to move the end-effector in a straight line (e.g. in the x direction) in Cartesian ...
0
votes
2answers
74 views
How to implement reference control signal for robot heading?
Some time I found that some robot controller uses a critically damped reference control signal such as in Autonomous Surface Vehicle (ASV) heading controller. My question is how do we implement this ...
0
votes
1answer
93 views
Quadcopter filter and Angular rate vs angle (Arduino programming)
I wrote an Arduino program for my quadcopter that sets to power of the 4 ESC's using software. Now I need to incorporate the gyro and add a "Complementary Filter" to stabilize it.
I am currently ...
0
votes
1answer
59 views
Is Robust Control and robotics well applied together?
There are many control methods who sounds great and have nice math etc. But many of them are not realistic in real life.
In robotics, Adaptive Control is well applied because Adaptive Control make ...
0
votes
1answer
165 views
Are S-Curve (constant jerk) motion profiles significantly better than constant acceleration?
I've been investigating S-Curve motion profiles for CNC router and 3D printer applications, and haven't come across any definitive source that says an S-Curve profile is necessary in any application. ...
1
vote
2answers
54 views
How many stages necessary to stabilize position while controlling torque?
I'm assuming that since torque translates into acceleration, the basic transfer function from torque to position becomes
$1/s ^ 3$
Does this mean that 3 pid controllers are required to properly ...
1
vote
1answer
40 views
How can I run Tests/Simulations of Control and Motion Planning for a Bare Metal Robot?
I am using a raspberry pi to practice low level development with a differential drive robot; bare metal without an OS underneath.
I've gotten to the point where I have a very small, single purpose ...
1
vote
0answers
63 views
My robot arm vibrates during operation. Why?
Introduction:
I have modeled my 5-DOF robot arm in a simulation environment to test trajectories for my physical model. I have export the joint variables from the simulation as a .csv file. Then ...
0
votes
0answers
50 views
Debugging my Quadrotor Controller SE(3)
I am trying to simulate and implement the controller of the paper Geometric Tracking Control of a Quadrotor UAV on SE(3). I have both the dynamics and the controller implemented but there seems to be ...
1
vote
1answer
59 views
Quadrotor SE3 Controller: Calculating Rd_dot
I am trying to simulate and implement the controller in the paper Geometric Tracking Control of a Quadrotor UAV on SE(3). I have the dynamics implemented, however I am stuck at one part in the ...
0
votes
0answers
302 views
Simulation with a Quadcopter in V-Rep
I'm working with a project in V-rep using a quadcopter controlled by the following PID controller
...
0
votes
2answers
225 views
Quadrotor Dynamics: Calculating angular velocity of quadrotor
I am trying to simulate and implement the controller of the paper Geometric Tracking Control of a Quadrotor UAV on SE(3). To do this I need to first implement the dynamics of the quadrotor. According ...
