Questions tagged [control]

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

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7
votes
1answer
1k views

Differential drive trajectory following control

I have a robot platform with differential drive which knows it's position and orientation. Lets say that the space through which the robot moves is known and it has only static obstacles. The task is ...
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0answers
93 views

VAL language and velocity control of industrial robot

In my bachelor, I programmed CNC machines. Now, working with an Industrial robot arm, I learn that their programming languages are mostly similar. VAL is a typical example, for instance: ...
2
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4answers
9k views

RC Helicopter Connect with computer [closed]

I am planing to control my RC helicopter with my computer. I have experience of programming in .Net. Could we use .Net to control RC helicopter? From where can I start this project?
3
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1answer
2k views

Android phone + ADK + Arducopter APM 2.5 for autonomous quadcopter

for a project for a robotic lab, i'd like to build an automous quadcopter able to follow a path and land on its own. I'd like to use an onboard android phone to do the image processing and recognition ...
4
votes
1answer
4k views

Low speed control of bldc motors

I'm having a problem with controlling my BLDC motor when starting up and when running in low rpm. I have a custom board to measure rotation of the motor using an optical sensor and send servo pwm ...
3
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4answers
399 views

Robots without microcontrolers (beam robots). Are they technologically limited?

BEAM robotics seem to be a good approach to teach learners about electronics in robotics. But can these robots be like regular programmed "cognitive" robots? Can these robots, with just analog ...
2
votes
1answer
890 views

Continuous or Discrete

I am new to robotics and control and I have been thinking about how to deal with problems in real life. I have passed a course in control, but I do not have any idea about control for discrete/digital ...
2
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3answers
231 views

Deburring Robot (Plastic Box)

For a university course I have been asked to design a rough "specification" for a system that will deburr a plastic box that appears in a workspace. Due to irregularities in the boxes edges I cannot ...
9
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2answers
13k views

How to use Arduino for ESC control?

I am using an Arduino Uno to control an ESC for my (in progress) quadrocopter. I am currently using the servo library to control the ESC, which works great. Except.. A count of 100 is max speed, ...
1
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0answers
87 views

quadrotor experimental identification [closed]

i want to model the quadrotor using experimental method "i have not built it yet" what i want to do is: turn only one motor at a specific speed ,then plot the x,y,z and the angles then identify the ...
8
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2answers
4k views

How to calculate the right and left speed for a tank-like rover?

I am trying to control the Rover 5 robot using an Android app with a touch-based joystick control in the app UI. I want to calculate the speed of the left and right motors in the rover when joystick ...
3
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3answers
4k views

I want my stepper motor to switch speed while traveling (not acceleration wise)

I have this project I'm working on where I'll need the speed of the stepper motor to change set speed at a certain distance, I just can't figure out a way to do it. I'm using arduino and a stepper ...
1
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3answers
535 views

How are the optical encoders used in platforms like Rover 5?

I just got my rover 5 chassis with 4 motors and 4 quadrature encoders and I am trying to utilize the optical encoders. I know the encoders generate pulse signals which can be used to measure speed and ...
3
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1answer
140 views

Use computer to throw a small switch

Would like a product that enables me to use my computer to throw an small DC ON / OFF switch. Seems like a stupidly simple thing to do, but for the life of me I can't seem to find such a device when I ...
2
votes
1answer
202 views

Tiny high torque actuator/sensor design

I need to assemble a small (about 8cm x 5cm x 5cm maximum), actuator with as much torque as I can get at that size. It will be driving a small reel and pulley (reel is ~1.25cm^3, 5mm center diameter), ...
3
votes
1answer
674 views

How to control a brushless motor?

I consider using a brushless outrunner motor, designed for helicopters, in my driving roboter. How can I control such a brushless motor with my micro controller? Of course I'll have a separate power ...
2
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2answers
1k views

How do I send text to a Torobot USB device?

I'm trying to get the "Torobot" USB servo controller to work with Angstrom Linux on a Beagle Board XM. The servo controller registers as a USB device. The device just takes simple text commands, but ...
1
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2answers
4k views

How to control the position of a pneumatic piston?

How can I control the position of a pneumatic piston? The only way I know about is using a magnetic reed switch (magnetic sensor) with a matching piston and use some type of control algorithm, like ...
3
votes
3answers
4k views

What is the name for the transfer function, GH

What is the name for the transfer function, GH, in a simple feedback control system like $$y=\frac{G}{1+GH}u$$ What do you call G? What about (G/(1+GH))? I am confused by the fact that that "open-...
3
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1answer
260 views

Optimal-time trajectory in 2D and 3D with simple constraints

I'm trying to find the optimal-time trajectory for an object (point mass) from point p0 with initial velocity v0 to point ...
3
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3answers
107 views

Wearable Accelerometor

I've worked with wiimote accelerometer, but I think now I want to move past that. Mostly because I want to have a wider range of available gestures and I think that using only one accelerometer has ...
1
vote
2answers
224 views

How can a load be balanced between multiple AC electric drive motors?

I have a three wheeled vehicle in a tricycle configuration attached to a fixed frame. Each wheel is powered by an AC electric motor. The AC motors are fed by motor controllers that take a speed demand....
3
votes
1answer
642 views

What is the difference between Task-Level and Joint-Level Control Systems?

While doing a literature review of mobile robots in general and mobile hexapods in particular I came across a control system defined as "Task level open loop" and "Joint level closed loop" system. ...
4
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2answers
1k views

Can I use the RaspberryPi to receive the GameCube remote's RF signals?

I have an old gamecube that doesn't work and I want to gut it and fill it with Arduino boards and/or Raspberry Pi if necessary. I want the project to eventually have some kind of AI aspect, but I'm ...
6
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1answer
460 views

Stabilizing a Robot Arm at a Specified Height

I have a 4-bar linkage arm (or similar design) for a telerobot used in the VEX Robotics Competition. I want to be able to press buttons on my PS3-style controller to have the arm raise to certain ...
2
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6answers
1k views

Is it possible to make Kite flying robot?

This question was asked in electronics stackexchange. I want to know if is it possible to make a robot that can fly kites. Is this idea practical? I was thinking that making a kite is just like making ...
4
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2answers
705 views

How to invert D-H parameters

I currently have a working kinematic chain made by a set of ten links in D-H convention (with usual parameters [ $A_i, D_i, \alpha_i, \theta_i$]). But my task currently requires the inversion of some ...
10
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4answers
3k views

What are human-friendly terms for mobile-robot orientation and relative direction of non-robot objects?

Within robotics programming, orientation is primarily given in terms of x, y, & z coordinates, from some central location. However x, y, z coordinates aren't convenient for rapid human ...
8
votes
1answer
594 views

Building a balancing robot with differential drive

I've already built a two wheeled balancing robot using some continuous rotation servos and an accelerometer/gyroscope. I upgraded the servos to some geared DC motors with 8-bit encoders with the goal ...
14
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3answers
5k views

How is PIV control performed?

I'm considering experimenting with PIV control instead of PID control. Contrary to PID, PIV control has very little explanation on the internet and literature. There is almost a single source of ...
4
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2answers
164 views

looking for a miniature joystick, but in reverse

Does anyone know if small mechanical actuators exist which can be controlled electrically, sort of like a miniature joystick, but in reverse. Instead of it picking up mechanical movement and ...
6
votes
2answers
200 views

Controlling the Power of a Solenoid

I am trying to control the force of a solenoid. My current system has a bank of capacitors connected to a relay. In order to control the force (how hard I am trying to hit the object) I am increasing ...
5
votes
2answers
2k views

Arduino Nano + Raspberry Pi = UAV Ground Station?

I'm a programmer by trade, and an amateur aerospace nut, with some degree-level training in both fields. I'm working on a UAV project, and while the good people over at DIY Drones have been very ...
0
votes
1answer
98 views

Remote car controlling

Before I start asking you for help let you know that I am newbie in electronic field. All I want to know is the principle of wheel rotation (left-right) from remote car gadget. I am not talking about ...
15
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2answers
2k views

Optimal Control for a simple pendulum

I'm studying various optimal control methods (and implements them in Matlab), and as test case I choose (for now) a simple pendulum (fixed to the ground), which I want to control to the upper position....
11
votes
3answers
499 views

Which is model is best for feedback control of robotic manipulators: MIMO or parallel SISO?

I'm currently designing a robotic arm with 6-DOF, and my goal is to be able to give setpoints for 3d position, velocity and orientation ($x,y,z,\dot{x},\dot{y},\dot{z},\theta,\alpha,\gamma$). I only ...
7
votes
5answers
529 views

Arduino Motor control

I'm working on a rather low budget project, and need some way to control four or more motors using one Arduino. I've looked at motor shields a little, but I have a shield on top of it already, It does ...
12
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3answers
833 views

How can I control a fast (200Hz) realtime system with a slow (30Hz) system?

We are currently designing a mobile robot + mounted arm with multiple controlled degrees of freedom and sensors. I am considering an architecture in two parts: A set of realtime controllers (either ...
8
votes
1answer
232 views

Cable routing in theta, x, y motion control system. Better inside or outside?

I'm building a motion control platform with 3 DoF: 1 axis of rotation (theta) and 2 cartesian (x,y). In most applications, like wrist actuation, you have an X-Y stage with a rotating servo as the ...
6
votes
2answers
4k views

Programming an ESC to have reverse mode

How do you program an ESC to have a reverse mode? We're looking to control an ESC from a servo board (for a robotics project). Assuming that the input will be between 0 and 255, we're looking for 127 ...
-9
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1answer
2k views

King Robota: Does he speak for himself? [closed]

I want to know if its currently possible for a robot to speak by it self as King Robota does, or is just someone speaking on his behalf? Youtube video
12
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3answers
8k views

I don't understand Integral part of PID controller

I dont understand integral part of PID controller. Let's assume this pseudocode from Wikipedia: ...
9
votes
1answer
678 views

How can I optimise control parameters for a stepper motor?

As an industrial roboticist I spent most of my time working with robots and machines which used brushless DC motors or linear motors, so I have lots of experience tuning PID parameters for those ...
11
votes
3answers
7k views

In PID control, what do the poles and zeros represent?

Whenever I read a text about control (e.g. PID control) it often mentions 'poles' and 'zeros'. What do they mean by that? What physical state does a pole or a zero describe?
6
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1answer
214 views

Is subsumption architecture still an active area of research?

I am interested in learning more about subsumption architecture. I have read a number of books that talk about the idea but none of them go into great detail. I have also read a fair number of Dr. ...
0
votes
1answer
65 views

Is there a list of maneuvers related to control of a tracked platform?

I have a platform with two tracks and two motors. Each one uses an electronic speed control with "double tap to reverse". Each ESC takes an input pulse train frequency from at 1500 neutral +/-700. I'...
7
votes
2answers
208 views

How much can working with CNC machines teach you about robotics?

I have built a few simple X/Y/Z CNC machines. I've learned about G-Code, motor control, firmware and open loop systems. I see machines like rovers, big dog and factory arms that seem incredibly ...
8
votes
1answer
194 views

Which spline function would be best suited for the trajectory of a differential drive

What's the best kind of spline that can be used for generating trajectory that can be adapted during execution time? The use case is having a differential drive which has to move towards a point (x,y,...
15
votes
3answers
5k views

How can I automatically adjust PID parameters on the fly?

I have a simple servo system that uses a PID controller implemented in an MCU to perform the feedback. However, the properties of the system change dynamically, and so the PID parameters can never be ...
2
votes
1answer
498 views

Suitable control algorithm for Air Muscle based joint?

I have a joint actuated by an antagonistic pair of Pneumatic Muscles. There are two valves per muscle, one to fill and one to empty each muscle. The joint has an angle sensor, and each muscle also ...

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