Questions tagged [control]
A method or device to manage, command or regulate some part of a system.
616
questions
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Outer Position Loop to Control Inner Velocity Loop
I'm trying to control the position of a brushless DC gearmotor. To drive the motor, I have a controller box that provides a velocity that is proportional to a 0 to 5 V input. The motor has it's own ...
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14 views
What are common method for sensor feedback in teleoperated underwater ROV to close the control loop
I would like to know what are the common method to get sensor sensor feedback in teleoperated underwater ROV to close the control loop. I mean does it use Velocity or Force and what sensor are used. ...
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1answer
181 views
Self balancing bike using a flywheel: ROS implementation
I have a bike with two stands and a flywheel like this:
The stands can be adjusted so that they don't touch the ground. Now, the task is to implement a self balancing mechanism: when I run the script,...
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15 views
Discretization of a control module
The desired control is $u_f=\frac{1+\eta s}{1+hs}a$, where $u_f$ is the feedforward control, $a$ is the feedforward observation and $\eta$ and $h$ are two constant parameters. However, I can only ...
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2answers
61 views
Servo Starts Oscillating Under Disturbance
I'm using MG996R servos to control a 6-axis desktop robot arm. When no disturbance (like a gentle push to the robot), the servos are fine and can hold their places. But under a gentle disturbance, ...
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21 views
Obtain a State Space System given Denavit-Hartenberg parameters and a Rigid Body Tree model in MATLAB
I'm confused regarding the representatoin of a 6 D.O.F. robot arm with multiple links. I have the denavit-Hartenberg parameters and have used these to create a Rigid Body Tree model in MATLAB. The ...
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1answer
46 views
Implementing PID on a line following bot using turtlebot
I am using ROS melodic,turtlebot 2 on Ubuntu 18.04.
The idea is to create an environment consisting of lines as a path (slightly curved), and to program the turtlebot to follow the lines. Basically, a ...
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1answer
49 views
can anyone explain detailly this video(title: sensorless active complaince)
https://www.youtube.com/watch?v=g8Je93soOZE
i am interseted in how they achieve compilance and detect collision in servo without the use of sensors. so any one please explain briefly
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1answer
53 views
Mapping Joystick Inputs to Quadcopter
hope you are all doing well.
We are doing a project where a quadcopter is controlled by an ordinary joystick. We have constructed the Control Algorithm and the joystick to move the quadcopter in ...
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57 views
Is feedback control fundamentally efficient than open-loop control?
Is feedback control more efficient in principle than open-loop control? Is there a name for the principle? (I'd like to do an internet search to understand that theorem.)
Under ideal conditions, ...
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1answer
37 views
Identifying joints from transformation matrix (DH matrix)
Given a transformation matrix formed using the Denavit Hartenberg method, is there a way to identify joint paramters: for example the order of joints?
I've come across a solution to an exam question ...
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34 views
PI controller for skew angle on a train wagon like robot
I have a robot very similar to a train wagon, it has 4 actuated wheels controlled by 2 motors. The two wheels that are located on the same rail are controlled by the same motor.
On each wheel it's ...
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1answer
95 views
Can someone explain this yaw angle calculation equation?
Nowdays, I am trying to understand PX4 Autopilot(Drone Flight Control Open Source) attitude control code. But I can’t understand formula below which is in attitude control code description.
Can anyone ...
3
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1answer
61 views
Pose difference estimation in cartesian impedance control
I am trying to implement a cartesian impedance controller in simulation (gazebo + KDL). The method which I am using is the following:
Compute the EE pose from KDL's forward kinematics for the ...
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2answers
105 views
Equations of motion in matrix form and energy consumption
I am working on Lagrangian derived high-dimensional motion equations for a robot in matrix form. The structure of such an equation is known:
$M(q)\ddot{q}+C(q,\dot{q})\dot{q}+G(q)=0$
In here, $M(q)$, $...
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0answers
21 views
Navigation with obstacle avoidance without precise velocity measurement [closed]
I'm working on autonomous navigation and obstacle avoidance using a few small, education-purpose differential drive robots. The robot's motor can be programmatically controlled via PWM but the robot ...
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0answers
43 views
Visual servoing: simple control law
The problem
I have a control scheme like the one in the image attached below (Source: Robotics, Vision and Control Fundamental Algorithms In MATLAB®, Peter Corke). But instead of a robotic arm, I have ...
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1answer
78 views
Robot Operating System can be usable other than Robot application?
I am asking very general question, but i would appreciate if someone helps me. I want to use ROS for manufacturing process (Not robots) as a middleware that can create simulated Cyber physical system ...
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1answer
59 views
What is the terminology used to describe control without measurement?
I am currently writing a paper on information theory. In the paper, I will be comparing feedback control ( with observations of the environment, of course) and control without observations.
My ...
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3answers
63 views
Best way to control a robot from an application
I developed an application that places itself just before controlling the robot (CAD/CAM like application) and now I want to control my robot directly within the application.
Typically I have two ...
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37 views
Can the PCB Circuit Board be removed and replaced from inside the Create 2: Programmable Robot? [duplicate]
For a school project, the professor wanted to know if needed that the PCB Circuit Board could be removed.
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0answers
26 views
Data gathering and selling [closed]
a friend of mine is building various Robots with different structures, sensors, limbs executing different tasks. He gathers data from all sensors etc regarding technical and scientific range of ...
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3answers
85 views
Servos jittering problem
So I started building this 3D printed Bluetooth robotic arm that can be controlled via MIT app inventor from HowToMechatronics.com. After connecting all the servos and running the code, the servos ...
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2answers
75 views
Is there a way to send commands to the Staubli CS9 from remote system via TCP/IP??(like ur_rtde, urx libraries for UR robots)
I am new to ROS development and Staubli robots. Though i have some prior knowledge on UR5e, I am finding it hard to understand the architecture of Staubli and its other programming interfaces (like ...
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1answer
48 views
time varying gain LQR vs fixed gain LQR, in finite horizon and infinite Horizon
Consider the dynamic system
$\dot{x}=Ax+Bu$ and the optimal control formulation of
$J = x^TQx + u^TRu$, with optimal linear feedback $u=Kx$ where $K$ is the gain matrix, and I use $k$ to denote time ...
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1answer
59 views
How to design a PID controller for boat?
I have a boat with two trusters and a trajectory planner which is based on the bicycle model. In order to control the boat, the linear velocity of each truster has to be provided.
The following ...
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29 views
Multidimensional obstacle avoidance in ODE. Part II
Multidimensional obstacle avoidance
https://math.stackexchange.com/questions/4146255/multidimensional-obstacle-avoidance-in-ode
For some time, I studied this question more closely and came to the ...
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22 views
Optimization problem of the SPMs design
This article contains section 4. Optimization problem of the SPMs design
https://www.sciencedirect.com/science/article/abs/pii/S0921889014001250
Tell me please, are there any special programs for ...
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1answer
53 views
Multidimensional obstacle avoidance
Artificial potential barriers are known that allow robots to avoid obstacles. They are constructed as follows. https://authors.library.caltech.edu/106548/1/2010.09819.pdf
Can you please tell me how ...
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1answer
40 views
How can I achieve a square pulse train while sending pulses one pulse at a time to a stepper motor?
I am trying to control Stepper motors which has a pulse input driver.
I have a speed of 1000pps, and I want to move 1 pulse at a time. So that means 1 pulse will take 1ms.
After I send a command to ...
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0answers
21 views
Looking for a course (online?) RE: systems with XY stages
Using XY stages is common in many fields:
3D printing
Genetics instruments
semiconductor lithography
automated microscope slide imaging
See for example https://www.asml.com/en/technology/lithography-...
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17 views
Fuzzy Path Planning for an Unknown Environment
I have a problem to programming on Matlab the path planning fuzzy in an unknown environment I am using a fuzzy toolbox for fuzzy rule
How to do obstacle avoid by Matlab demo program
How to reach the ...
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1answer
60 views
Robots Following Robots with Safety Distance Planning and Coordination
I have two robots, I wish for the second robot to follow the first one while keeping a constant distance d_safe between them. I am trying to implement a PID ...
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0answers
18 views
MAVLink data stream to third-party system
I'm a completely beginner with pixhawk and MAVLink. So I want MAVLink (via AP Mission Planner) to send vehicle data e.g. attitude etc. in real-time to a third-party system that has a built-in ...
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0answers
39 views
How to perform a cart-pole swing up task using MPC?
I originally thought this was a really simple problem. However, to my surprise I did not find any resource talking about it, the only thing I found was that using Matlab's nonlinear MPC toolbox you ...
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45 views
Find viscous friction for DC motor transfer function
How do I find the viscous friction for my DC motor without measuring the input current and output torque.
I have to do a theoretical model on simulink and can't find any answers on how to find it
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2answers
57 views
How to investigate the relation between planning frequency and control response?
I have a speed control system which is part of a hierarchical planning and control stack. The final output of this system is torque and the input is desired speed. The system is experiencing some ...
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0answers
16 views
Is there a way I can achieve Torque control from pulse control?
I am using the Contec SMC-8DL Motion control card to control the Oriental Stepper motors via the AZD-C driver. The Contec helper functions only allow for sending pulses to the driver, is there a way ...
2
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1answer
106 views
How to find angular velocity using pure pursuit algorithm?
I have implemented the pure pursuit algorithm for my differential wheeled robot as described in the following paper:
http://www.enseignement.polytechnique.fr/profs/informatique/Eric.Goubault/MRIS/...
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1answer
57 views
How to choose closest angle when crossing -180 degrees
I'm applying a PID for position control on a diff drive robot, got the angles (orientation )between -pi and pi. It works fine until it needs to change its orientation from (let's say) -170 degrees to ...
0
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1answer
51 views
Is it possible to solely use a P-controller for velocity control?
Let's say I want a robot to run at a certain speed. I have one motor attached to each robot rear wheel. The feedback value to the controller comes from an encoder, which outputs pulses per time unit, ...
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1answer
63 views
Velocity-Control of a manipulator without a dynamic model
I have a five DoF robot. Each axis is connected to a cylinder. You can send PWM values to each cylinder and you are able to read out the position values of each cylinder which makes it possible to ...
0
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1answer
60 views
Help on the Walking without thinking about it paper!
I was reading the paper, which you can find: https://hal.inria.fr/inria-00567668/document. I got so confused with equation (33) and (34), it seems like instead of an equal sign in eq.(33) on the left ...
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1answer
53 views
Do hobby servos respond to step inputs with a step in torque?
I'm designing a piston that I need to expand a few cm in <100ms to load energy into a spring-mass system with around a pound of force (as shown below). Based on power specs alone, high-end hobby ...
3
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2answers
451 views
Impedance Control vs Position Control
I have been reading up on impedance control, and several sources have stated that it is much safer than position control. However, frustratingly, none of these sources have explained why this is. So......
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1answer
35 views
How to estimate gradient of Jerk
A trajectory is described by a position vector, i.e., traj = $[q_0, q_1,...,q_n]$. The objective is to minimize the jerk of the trajectory.
I am referring to this code to understand how the gradient ...
2
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1answer
41 views
Control signal of an LQR Controller
I'm working on building an LQR for a system which consists of a ball in a vertical tube, a fan is situated at the bottom of the tube and a distance sensor is at the top, a raspberry Pi is used to send ...
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87 views
Path curvature in kinematic bicycle model
I'm trying to develop an understanding of the control law for longitudinal and lateral control for self driving cars. While doing so, I came across the kinematic bicycle model which is used to derive ...
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1answer
26 views
How to simulate a system output with a sine wave input?
I wish to simulate the output of a certain gear system I have. How the gear system looks isn't particularly important to the problem, I managed to get the differential equation needed from the ...
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0answers
45 views
Kalman filter for visual tracking of a ball sliding on a gutter
I'm working on a project where a robot needs to keep a ball at a desired position on a gutter. The gutter is fixed at one end and held at the other end by the robot’s ...
