Questions tagged [control]

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

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What's the difference between the different types of "control"

I've embarked myself into an "action in robotics" journey, and I'm currently having troubles to understand the main differences between the different types of "controls" listed ...
Esteban's user avatar
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Understanding Manipulator Dynamics for 3-DOF Robot [closed]

I have this robot arm for a project I am tasked with. I need to compute the Newton-Euler and Lagrange Euler formulation for the arm. Then I should implement it on MATLAB. I would appreciate some ...
ibrahim mohamed's user avatar
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Lateral control for autonomous vehicles ( steering angle problem)

I am working on a control system for autonomous vehicles, i am using a kinematic bicycle model simulated on matlab simulink and the formula i used for the steering angle is given in the figures below ...
Asmaa GZ's user avatar
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What is this plate/wheel/disc called?

So this plate would attach to a motor and an arm would be attached to any one of the holes. As the motor rotates the plate it causes the arm to move in a reciprocating fashion. In this example, ...
Easy's user avatar
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Problem with simulating correctly my robot when using EffortJointInterface

Hello everyone i'm simulating a differential drive robot on gazebo 11.0 (i'm using ROS noetic), and i'm trying to control each wheel separately using velocity control and using an EffortJointInterface,...
Siimo Ch's user avatar
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Which NAV2 controller for following a given path with a certain speed?

I need to follow a given global path with a certain speed. For now, my plan would have been to use the MPPI controller in NAV2 with a custom critic for speed. Is this a good approach? Are there other ...
aladin6060's user avatar
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Issues with Torque Distribution in State-dependent Differential Riccati Equation (SDRE) Controller for 4W SSMR Trajectory Tracking

I am currently working on implementing a State-dependent Differential Riccati Equation Controller (SDRE) to track the trajectory of a 4-wheel skid steer mobile robot (SSMR), where torque serves as the ...
MUHAMMAD SAQIB's user avatar
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Can we apply LQR control in high dimension - like to a full robot?

I have been watching Russ Tedrake's videos on robotics, which are wonderful. But I am confused by one thing. So he talks about the application of LQR control and its ability to efficiently stabilize ...
krishnab's user avatar
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reset robot position using "/gazebo_msgs/srv/SetModelState" [duplicate]

I am trying to reset model position at a specific condition in ros2 humble. I found "/gazebo_msgs/srv/SetModelState" would be helpful in resetting position but it is not available when I run ...
Pratham's user avatar
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Implementing a simple MPC

I am trying to teach myself how an MPC works by implementing one from scratch. I found a great resource that explains how an MPC works: https://cse.sc.edu/~gatzke/cache/npc-Chapter5-scan.pdf There are ...
jlee's user avatar
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Help with robot bimanual manipulator impedance controller

I have question with how should I focus the development of a impedance controller for two robots. I already built a controller for one arm but after a thorough search if literature or examples I didn'...
mikel lasa's user avatar
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Is it acceptable to convert the optimized control input state (acceleration) from my Model Predictive Controller to position

Good day, I hope you are well. I currently have an MPC position controller that optimizes a set of control input accelerations given a trajectory. u = [Ux_dot_dot Uy_dot_dot, Uz_dot_odt] However what ...
user123456098's user avatar
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Mobile Manipulator: Is it possible to use the output state of an MPC position controller instead of the optimized control inputs (acceleration)?

Good day, I hope you are all well :) It's been 7 years since I've last been here haha. I am currently trying to implement this paper: https://www.mdpi.com/2077-0472/12/3/381 Their mobile manipulator ...
user123456098's user avatar
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Rigorous terminology clarification - Path Planning, Path Following, Trajectory Planning, Trajectory Following and Motion Planning

I am asking this after having gone through quite a bit of literature and hope that it's not a repeat question. I would like to know proper mathematical notion that clearly defines a Path and a ...
Manish's user avatar
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I don't know how to get gazebo updated information

/cmd_vel Sends the speed value as a message to drff_drive. /diff_drive sends the following ...
ertretff's user avatar
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Link num type variable with aio Staubli

I want to link a num variable with a aio input variable I receive from ECAT. I am trying to do it in that way, but it does not work. Anyone who know how to do it in SRS? I have defined Vel_cmd and ...
Unai Granados Ormaetxea's user avatar
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Custom hardware interface type

I would like to write a controller that needs all joint states to update a single joint. My idea was to create a class MyStateInterface which inherits from ...
Benno's user avatar
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Integrating Alternative Local Planners (Controller) with ROS 2 Navigation2 Stack for an Ackermann Robot

I'm working on a project with ROS 2 Iron and the Navigation2 stack, focusing on an Ackermann-steered robot. I've encountered issues while trying to integrate alternative local planners, such as TEB, ...
Marcus Vinicius's user avatar
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How to use MoveGroupInterface within a node?

I am a ROS beginner trying to write an interface for a robot arm in c++ that uses moveit2 for inverse kinematics. What I want to do is have a node with a MoveGroupInterface handle that I can use to ...
Preetjot Singh Dhami's user avatar
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ROS2 - Humble - ros2_control Possible to use position and velocity forward controller at same time?

Is it possible to spawn and use both a forward position controller and a forward velocity controller at the same time? My hardware interface supports torque, speed, and position (feedforward PID ...
Nathan's user avatar
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Lateral control for autonomous vehicles

I am working on autonomous vehicle control, i used the kinematic bicycle model, For the speed reference I used a speed profile not a constant speed(given below [![speed][1]][1] for the steering angle ...
Asmaa GZ's user avatar
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2 answers
83 views

Real time velocity control with Moveit

I am working on a research project involving robotic welding, and once I get the motion plan with moveit, I want the end effector to move in specific velocity along the weld path, based on camera ...
welderboi's user avatar
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Navigation in Local Frame (odom frame)

I am working on a control related task - a docking procedure for an AMR to be specific. That task requires my robot's pose information throughout the planned path as it moves to the goal/docking ...
Alperen Keser's user avatar
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Hinfinty Controller for TWO wheeled self balanicng robot

I'm trying to implement a H-infinity controller in a TWO-WHEELED-SELF-BALANCING-ROBOT, already implemented LQR for the same in gazebo, where the control input was torque(used this selfbalancing robot ...
zorx's user avatar
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impliment car like steering in ros2_control

I want to implement a 4 wheel robot with car like steering(having 2 front steerable wheels and 2 back drive wheels) in ros2 using ros2_control. Can you suggest me which ros2 controller should I use(...
Pratham's user avatar
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Modelling thrust on quadcopter in simulink

I want to model aerodynamic forces such as thrust on all motors of quadcopter in simulink.But equations for thrust involves density of air , but then we have to include model air in simulink . So what ...
pranjal verma's user avatar
1 vote
2 answers
47 views

About Husky UGV Connection

Somehow a Husky UGV came into the lab without any sensors or onboard PC. Fortunately, there is a laptop with ROS2 Humble installed and a PS4 controller. Q1. What do I need to do to act as an Onboard ...
Lee Jin's user avatar
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Why is admittance control better than impedance control for huma robot collaboration?

I have seen many papers that use admittance control for human robot collaboration but no one tells why admittance is the choice and not impedance. Is it something very trivial that I should know or ...
Shubham Kumbhar's user avatar
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Moveit_servo with ur_modern_driver

I have been working on a UR10 (older version, thus using ur_modern_driver) for pick and place movements. However for a specific case I want to change to smooth servoing towards an object based on ...
LucasMS's user avatar
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Mambo parrot /tello control propeller speeds

From my understanding, for parrot mambo and tello drones, we control forward-backward, up-dow, left-right, and yaw speeds (in m/s and deg/s). But the low level control is control the 4 propeller ...
Jose Daniel's user avatar
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1 answer
320 views

Creating a Custom Hardware Interface for a Two-Wheeled Mobile Robot for ros2_control?

I am in the process of developing a custom two-wheeled mobile robot with differential control, and I want to integrate it with the ROS 2 ecosystem, specifically leveraging ros2_control. I understand ...
Robotawi's user avatar
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1 vote
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End effector velocity control of a 6-DOF robotic manipulator using MPC

I've been trying to utilize Model Predictive Control (MPC) scheme that I have for end-effector position reference $x(t)$ tracking control to build end-effector velocity reference $\dot{x}(t)$ tracking....
HOJUN LEE's user avatar
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How do I send a new position to my 5 dof robot arm?

I am a newbie with ros2 control. I am using ros2 iron on Ubunto 22.04 (Linux Mint). I made a copy of the ros2_control demo example #7. This is the one that is launched with the command ...
Jeffrey Edward Messikian's user avatar
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69 views

What are the gain and bias parameters used to control actuators?

When I read the Mujoco official document, the following paragraph raises my confusion: Different settings of the gain and bias parameters can be used to model direct force control as well as position ...
KKKmelody's user avatar
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1 answer
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Controlling motion of single link

This seems like it should have been a well studied problem, but I can't find any solution. We want to define what a motor must be commanded to do to move a single link with mass $m$ and length $l$ $...
guero64's user avatar
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Best practice for logging callback durations and execution times in ROS

I'm wondering if there are any best practices for logging callback durations and execution times in ROS? As my system evolves and implementation is changed, I'd like to be able to monitor the ...
woodwardsquidward's user avatar
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58 views

How to visualize panda robot in gazebo while moving it with my own cpp script

So I'm using franka_ros where I added my own package that includes some scripts that executes a trajectory for the robot using robot.control class from libfranka. I ...
mikel lasa's user avatar
1 vote
1 answer
150 views

Which controller from `ros2_control` is appropriate for firmly grabbing a box with a 1-DOF gripper in Gazebo Classic?

I want my robot arm (Turtlebot3 with OpenManipulator-X) to firmly grab a box, however the gripper does a sudden close movement and the box flies away. Is a firm closing movement possible with ...
geko's user avatar
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Transform between odom and base_link is faster than in real life [Solved]

i have a differential drive mobile robot and i want to add him the navigation and the localization satck. Currently it's controlled by a teleop. But when i look the transform between odom and ...
Josselin's user avatar
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1 answer
131 views

Steer to a pose for a differential drive robot

I am working on a diff-drive robot that needs to go and dock into a docking station to charge when the battery is low. The charging socket is on the back of the robot, like a vacuum cleaner, so this ...
ssarkar's user avatar
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2 answers
231 views

Gazebo not running when I try to load STL files

I have an issue with Gazebo, when I try to load my URDF file (including STL meshes), Gazebo crashes. This is my URDF file: ...
user35808's user avatar
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simple hardware interface for mobile robot (RobAir)

I want to create a hardware interface to interface a simple research mobile robot called RobAir, this robot has two wheels and using velocity controller cmd_vel through a ROS node on Arduino board to ...
Bilal's user avatar
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1 answer
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Resources for precision aiming, trying to aim camera long distance

I'm looking for resources online regarding precision aiming of a camera at a target that is far away. I'm a neophyte here, and I was hoping to see what kind of mechanical designs people have had and ...
mj_'s user avatar
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Does the ros2_control's JointGroupPositionController handle velocity constraints?

In ROS 1, you could limit the speed that the position controller moved at by specifying a <limit> tag within the ...
DLu's user avatar
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robot not moving left or right

I am building a 4 wheel differential drive robot. The robot is not moving left or right in gazebo, although it is moving forward and backward. The robot is moving completely fine in rviz2(forward, ...
KalaDaku's user avatar
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1 answer
61 views

How to reduce the turbulence of a robotic arm, when it's end effector touches a surface?

I am working on a project related to tele-robotic ultrasound where I have to tele-operate a virtual UR5 robotic arm with a end-effector(a thin rod) through a haptic device in PyBullet. When I make the ...
RaMathuzen's user avatar
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Enhancing Accuracy of Mars Rover Current Measurements through Mechanical Isolation of Sensors

The current sensor of the Mars Rover made by our university students team is showing unstable current measurements due to vibrations in the terrain. How can the sensor be mechanically isolated to ...
Furiounibu's user avatar
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ros2_control: No parameter file provided. Configuration might be wrong. failed to parse input yaml file(s)

I am trying to build a 4 wheel differential drive robot. But i am getting error when using ros2_control. Version: Ros2 Foxy Terminal Output ...
KalaDaku's user avatar
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2 answers
322 views

Joint Trajectory Controller: Joints on incoming trajectory don't match the controller joints

I am trying to create a script to control my robot using an action. The action server was already created by Joint Trajectory Controller and I had to make the action client. The issue I am having is ...
Fischdog24's user avatar
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0 answers
75 views

How to keep the orientation of end effector during movement in ROS Gazebo simulation

I am using Ubuntu 20.04, ROS NOETIC, Moveit to control a UR5 robotic arm in Gazebo simulation. I am trying to move a robot with a fixed orientation of its end-effector. The basic idea is to use the ...
walter wang's user avatar

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