Questions tagged [control]

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

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26 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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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 ...
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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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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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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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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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67 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
57 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
54 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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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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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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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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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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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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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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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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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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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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35 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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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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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
58 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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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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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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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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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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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 ...
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72 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 ...
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50 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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56 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 ...
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58 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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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 ...
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357 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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33 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 ...
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1answer
36 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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57 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
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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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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 ...
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1answer
88 views

Does the Grbl have S-curve or harmonic velocity profiles?

I'm working on a machine and the position has a high impact by the jerk and acceleration of the machine. I'm using Grbl for my machine. Does Grbl has S-curve or Harmonic velocity profiles?
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71 views

What can cause yaw rotation on a multirotor when yaw control is disabled?

Let's assume that I assembled a multicopter (quadcopter, hexacopter or octocopter) and let's say that I disable yaw control on it while roll and pitch controllers are enabled. Now let's assume that I ...
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82 views

PID Control: Is adding a delay before the next loop a good idea?

I am implementing PID control in c++ to make a differential drive robot turn an accurate number of degrees, but I am having many issues. Exiting control loop early due to fast loop runtime If the ...
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Is Image Based Visual Servoing a non-linear controller?

Is Image Based Visual Servoing a non-linear controller? I think it is as the Image Jacobian has square terms of u & v (image-plane coords). Where $p_u, p_v$ are the width & height of each ...
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1answer
27 views

Dynamics with error term

How do the dynamics of a system change when an error term is introduced? For instance, if I have a system (computed torque control - robot manipulator): $$M\ddot{q} + C\dot{q} + G = u$$ and $e = q-q_{...
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70 views

How to obtain the state space representation of a computed torque control system?

Assuming I have a system: $$ a \, \ddot{x}_1 + b \, \ddot{x}_2 + c \,\dot{x_1} + d \,\dot{x_2} + e = u_1 \\ f \, \ddot{x}_1 + g \, \ddot{x}_2 + h \,\dot{x_1} + i \,\dot{x_2} + j = u_2 $$ How would I ...
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54 views

High derivative gain in PD control

Why does high derivative gain in PD control results in motor noise or chatter? The graph that I see on MATLAB simulation is smooth enough, so following that it should not make noise..
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How do I compute the feedforward terms in a control law using Matlab?

I have the following situation. I have computed the linear and angular velocity which are the controls for a mobile robot, which have the form: $v_d=v_{fb}+v_{ff}$ $\omega_d=\omega_{fb}+\omega_{ff}$ ...
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225 views

How can I define the saturation function in Matlab?

I would like to write a Matlab code for an angular velocity of this type: $\omega=\omega_{fb}+sat(\omega_{ff})$ where $\omega_{fb}$ is a feedback angular velocity and $\omega_{ff}$ is a feedforward ...
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161 views

How to consider gravity for the state space modeling

I'm trying to find the state-space model of the following ball-in-tube system. I designed the SISO system, with the h(ball height), w(angular velocity of propeller), and I(current) as the system ...
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36 views

Control method advice for Markov (?) process

I'm experimenting with a device for tuning piano strings. It attaches to the piano's tuning pins and turns them slightly by applying a torque impulse. It is a semi-automatic process, handled by a ...

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