Questions tagged [control]

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

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3answers
33 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?

For a school project, the professor wanted to know if needed that the PCB Circuit Board could be removed.
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2answers
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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

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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2answers
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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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1answer
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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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1answer
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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1answer
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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
206 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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1answer
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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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2answers
345 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
345 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
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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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2answers
49 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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1answer
207 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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1answer
995 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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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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1answer
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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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1answer
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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1answer
56 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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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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2answers
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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
59 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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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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1answer
207 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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0answers
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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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1answer
44 views

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
65 views

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
74 views

Measurements of IMU (accelerometer and gyroscope) are drifted or with too much error

I placed my drone on a table (i.e, at rest) and save (using a ROS topic) the IMU readings: As you can see, there's a lot of drift or error. I would expect the $x$ and $y$ acceleration to be 0 (I know ...
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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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1answer
411 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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2answers
196 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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2answers
50 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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1answer
49 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 ...
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0answers
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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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1answer
27 views

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
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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1answer
102 views

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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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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1answer
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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1answer
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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1answer
42 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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1answer
31 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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2answers
311 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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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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1answer
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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1answer
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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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