Questions tagged [control]

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

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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 ...
9
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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
5k 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
547 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
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1answer
203 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
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1answer
681 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 ...
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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 ...
4
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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
267 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
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2answers
226 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
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1answer
721 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
469 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
821 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
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1answer
596 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
167 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
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2answers
202 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
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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
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1answer
99 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
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3answers
544 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
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5answers
539 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 ...
13
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3answers
907 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
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1answer
246 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
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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
13
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3answers
9k 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
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1answer
763 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
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3answers
8k 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
221 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
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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
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2answers
209 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
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1answer
199 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
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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
501 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 ...
72
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9answers
292k views

What are good strategies for tuning PID loops?

Tuning controller gains can be difficult, what general strategies work well to get a stable system that converges to the right solution?
11
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2answers
11k views

How do I calculate the required loop frequency for a servo controller?

I have a motor which drives a string connected to a load cell. I would like to implement a closed loop controller to control the load applied by the motor to the string. How do I go about determining ...
25
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3answers
3k views

What algorithm should I use for balancing a two wheeled robot using a gyroscope?

Is there a good, popular and reliable algorithm I can use by taking input from a gyroscope and using this to control two independant wheels to keep such a balanced robot reliably upright? I'm looking ...
6
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1answer
65 views

Keyboard control map for scalar based movement?

I'm working with a Wild Thumper 6 wheel chasis that is designed for use with an RC controller. However I'd like to have a mapping to a keyboard for control as well. Can you suggest a set of keys and ...
15
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4answers
6k views

How can I modify a low cost hobby servo to run 'freely'?

I've got some hobby servos (Power HD 1501MGs) and I'd like to be able to control them (via an Arduino) so they will either go to the angle I set, or put them in a 'free running' mode, where the load ...
14
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2answers
284 views

What is the right approach to write the spin controller for a soccer robot?

Imagine programming a 3 wheel soccer robot. What type of controller would you use for spinning it? P? PID? The goal for this controller is that it should make the robot stand in a defined angle ( 0 ...

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