Questions tagged [control]

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

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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
201 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
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1answer
503 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
296k 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
12k 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
votes
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
votes
1answer
66 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
votes
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
286 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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