Questions tagged [control]

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

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53 views

Reliably enabling/disabling a PID loop via FSM in a microcontroller

I have a PID loop for a small vehicle implemented in a microcontroller. Currently the PID loop is implemented in a timer interrupt. I want to implement an FSM that will have states that enable or ...
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Why is there a sign change in the dynamic equation and how to derive kinetic equation

I would like to find out the following (I am trying to develop a dynamic model for a 4 wheel mecanum wheel) 1: Why is there a sign change and how to derive the kinetic equation for the wheels? How to ...
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1k 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 ...
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1answer
56 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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1answer
336 views

Autonomous boat obstacle avoidance

I am currently considering joining the MicroTransat challenge and develop an autonomous boat able to survive the harsh Ocean environment. However, as for security and to ensure the boat doesn't sink ...
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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
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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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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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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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1answer
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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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What's the diffrence between $H_2$ and $H_\infty$ control?

There a two controllers named $H_2$ and $H_\infty$. Can someone explain if: They have have guaranteed stability margins? Do they have a Kalman filter? Are they for both SISO and MIMO systems? Can I ...
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1answer
92 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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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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218 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 ...
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1answer
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Interpret 560 byte msg from UR5 firmware 1.8 through TCP socket

I am trying to use the UR5 from my computer without having to write any script on the robot. For that, I opened a TCP socket as a client from my computer (in a C program), and the robot indeed does ...
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1answer
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Image based visual servoing for quadrotor forward flight

I'm still trying to understand how to implement image based visual servoing (IBVS) for quadrotor. The control laws seem straightforward if you want to use IBVS to track a feature in the image space at ...
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1answer
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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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4answers
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Multivariable PID controller

I'm making a robot that uses two DC motors to move, and has two distance sensors on its right side. I want to make a PID controller to control the angle of the robot (using a wall as reference) and ...
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1answer
436 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 ...
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211 views

motor controlled lazy susan

I'm trying to figure out an easy lazy susan setup. This is for video production, I want to be able to put an object on the platter and get a smooth consistent turn in order to shoot the object ...
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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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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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2answers
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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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1answer
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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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1answer
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Given this old pin diagram and numbers on this old encoder, what would be a suitable modern encoder to use?

My place of work has recently acquired a Hydraulic Press Break from the 80's. It has a CNC controlled back stop which is driven by a DC motor and Screw drive. The encoder which couples to the motor ...
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1answer
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Error in Pose(): All values are zero for turtlesim/Pose

Here is the program I have written. The function is to make the turtlesim complete one revolution, with a fixed angular velocity and speed. ...
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3answers
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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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1answer
45 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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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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1answer
45 views

Understanding across gravity compensation, demonstration (Kinesthetic Teaching vs. Teleoperation) and inverse dynamics

I first state my humble probably wrong opinion on the connection of these concepts: In gravity compensation mode, each joint has equilibrium as its set point, a human demonstrator can effortlessly ...
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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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1answer
77 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
36 views

Rotary Stage (high resolution controller for BLDC motor)

I am building a 3phase BLDC motor controller based on an STM32 MCU, a high resolution 26 bit optical encoder and a DRV8301 motor driver from TI. This is a for a high precision rotary stage for an ...
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1answer
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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
61 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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2answers
117 views

Is it possible to track position using gyroscope and accelerometer without a magnetometer?

I'm looking for help on a project where I will be placing sensor data in 3D space using augmented reality. Most solutions I have found for finding position with an IMU involve the magnetometer, but ...
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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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2answers
55 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
36 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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1answer
5k views

Quadcopter PID Algorithm

I'm trying to implement a PID control on my quadcopter using the Tiva C series microcontroller but I have trouble making the PID stabilize the system. While I was testing the PID, I noticed slow or ...
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1answer
216 views

Controlling YuMi robot by serial port

I'm trying to control the YuMi robot arm by a serial port. The serial port will give the information on what direction the end-effector should move and what is the velocity. What I would like to ...
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2answers
392 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 ...
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1answer
375 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. ...
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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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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
223 views

Matlab Simulation using Webots!

I am trying to run this youbot ( sample world) from webots, where the controller is implemented in MATLAB, on running the code it pops out the following error seen in the picture attached. I have also ...
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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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2k views

Holonomic and Non-holonomic UAV's: Gliders vs Quadcopters

Good day I would just like to ask if a fixed wing aircraft such as a glider(without thrust capability therefore needs external forces such as air flow to move constraining its movement) can be ...

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