Questions tagged [control]

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

Filter by
Sorted by
Tagged with
0
votes
1answer
328 views

Quadrotor 2D Dynamics

I am trying to understand the control of the quadrotor in 2 dimensions from the Penn course on aerial robotics. The attached image describes the linearization of the control efforts assuming that the ...
0
votes
2answers
154 views

How to implement reference control signal for robot heading?

Some time I found that some robot controller uses a critically damped reference control signal such as in Autonomous Surface Vehicle (ASV) heading controller. My question is how do we implement this ...
0
votes
1answer
280 views

Quadcopter filter and Angular rate vs angle (Arduino programming)

I wrote an Arduino program for my quadcopter that sets to power of the 4 ESC's using software. Now I need to incorporate the gyro and add a "Complementary Filter" to stabilize it. I am currently ...
0
votes
1answer
80 views

Is Robust Control and robotics well applied together?

There are many control methods who sounds great and have nice math etc. But many of them are not realistic in real life. In robotics, Adaptive Control is well applied because Adaptive Control make ...
0
votes
1answer
560 views

Are S-Curve (constant jerk) motion profiles significantly better than constant acceleration?

I've been investigating S-Curve motion profiles for CNC router and 3D printer applications, and haven't come across any definitive source that says an S-Curve profile is necessary in any application. ...
1
vote
2answers
68 views

How many stages necessary to stabilize position while controlling torque?

I'm assuming that since torque translates into acceleration, the basic transfer function from torque to position becomes $1/s ^ 3$ Does this mean that 3 pid controllers are required to properly ...
1
vote
1answer
54 views

How can I run Tests/Simulations of Control and Motion Planning for a Bare Metal Robot?

I am using a raspberry pi to practice low level development with a differential drive robot; bare metal without an OS underneath. I've gotten to the point where I have a very small, single purpose ...
1
vote
0answers
156 views

My robot arm vibrates during operation. Why?

Introduction: I have modeled my 5-DOF robot arm in a simulation environment to test trajectories for my physical model. I have export the joint variables from the simulation as a .csv file. Then ...
1
vote
1answer
83 views

Quadrotor SE3 Controller: Calculating Rd_dot

I am trying to simulate and implement the controller in the paper Geometric Tracking Control of a Quadrotor UAV on SE(3). I have the dynamics implemented, however I am stuck at one part in the ...
0
votes
2answers
636 views

Quadrotor Dynamics: Calculating angular velocity of quadrotor

I am trying to simulate and implement the controller of the paper Geometric Tracking Control of a Quadrotor UAV on SE(3). To do this I need to first implement the dynamics of the quadrotor. According ...
2
votes
1answer
208 views

How to build a robotics ontology?

According to some papers about robotics soccer Ontology Driven Development of Domain-Specific Languages, 2000 and Domain knowledge for surveillance applications, 2007, i need an ontology for ...
0
votes
1answer
42 views

Is there an implementation of this paper? “Inversion Based Direct Position Control and Trajectory Following for Micro Aerial Vehicles”

I read this paper Inversion Based Direct Position Control and Trajectory Following for Micro Aerial Vehicles and despite of google it, I did not found any implementation source. if someone has a link ...
1
vote
1answer
51 views

How to track two set-points with one output?

How can I track two set-points in a system using only one output? Example: make a motor track a position x moving in a speed y while I have only voltage as an output, speed and position as feedback. ...
0
votes
1answer
106 views

How's robot vacuum cleaner back to charger when battery is low? [closed]

What's technology robot vacuum cleaner used to locate it's charger when battery is low ?
2
votes
0answers
180 views

Inverse Kinematics Tools [closed]

I am looking for inverse kinematics library (preferably compatible with ROS) that includes functions to calculate inverse-jacobian to go from end-effector velocity (twist) to joint velocities. I've ...
1
vote
2answers
157 views

Industrial Controllers - Why not adaptive control and robust control

This is a question I have thinked about under a very long time. What are industrial controllers? From research I found that PID is the most used in the industry. PID controllers are included in ...
1
vote
2answers
153 views

Rotary Serial Elastic Actuator

I'm building a 7oF arm with series elastic compliant joints. I need series elasticity because I'm training the robot to do autonomous manipulation using machine learning, and I want force control (and ...
0
votes
1answer
72 views

Is it possible to achieve control of 4 DOF in quadcopter?

I have been looking into non-linear control algorithms for controlling a quadcopter. I know that we have total 6 DOF for a quad (3 translation and 3 rotation) and our input belongs to $\mathbb{R}^4$, ...
1
vote
1answer
96 views

Beach Cleaning Robot - Wheel Slip problem

I am building a beach cleaning robot. I am having problems with it moving on the Sand. I have attached a video of it struggling to move. How can I proceed (I think it has enough torque) . it moves ...
3
votes
1answer
736 views

Correct Quadcopter Yaw control implementation

I have built a quadcopter from scratch, including my own flight controller. I have implemented a sensor fusion algorithm (Madgwick algorithm), which returns me current Yaw, Pitch and Roll angles. ...
1
vote
1answer
724 views

PID Controller Output Mapping for Motor Speed Control

Hi, I want to control the speed of a conveyor belt. I can measure the linear velocity of the belt using a encoder mounted at the roller of the belt. My confusion is not with the PID but only the ...
0
votes
1answer
50 views

Inconsistent robot behavior

I am working on a robot project in which I use an arduino mega as the main processing unit, L298N h bridge module as the motor driver and motors like these in a differential drive configuration. I ...
3
votes
1answer
372 views

Extended Kalman Filter in robotics - Worth it?

I wonder if Extended Kalman Filter(EKF) is used in robotics, or is only Kalman Filter(KF) used in robotics. Kalman Filter is included in Linear Quadratic Gaussian(LQG) controllers. But how would EKF ...
1
vote
2answers
68 views

Is there a formal name for translating poses into robot states?

I've been working on a module that takes in planar poses $\begin{bmatrix} x_{t_{k}} & y_{t_{k}} & \theta_{t_{k}}\end{bmatrix}^{T}$ and spits out expected robot states $\begin{bmatrix} x_{t_{...
0
votes
1answer
185 views

Disturbance rejection of PID controller with low sampling rate

I have a closed-loop system with the following discrete-time plant: $P(z) = \frac{0.1262}{z^2-0.3303z+0.07517}$ With a fixed (and horrendously low) sampling time of 0.05 seconds. The plant has a ...
1
vote
0answers
189 views

Controls Project, Inverted Pendulum. Design issues

I am developing an inverted pendulum that uses a differential drive robot as base. The goal is to create a benchmark to practice my control using ROS, so I can implement what I learn on the Modern ...
0
votes
2answers
732 views

Generating double s-curve velocity profiles with given time

I wonder how to generate double s-curve velocity profile for multiple DOF trajectory. Since there are constraints on initial and final velocities which can be non-zero it is necessary to synchronize ...
2
votes
2answers
1k views

What's the diffrence between $H_2$ and $H_\infty$ controll?

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 ...
0
votes
2answers
384 views

What is a control loop?

I've seen with drones that the norm of programming them is to create three loops, for each axis, but I'm not quite sure what a control loop is when the code must run in a sequential manner. ...
0
votes
1answer
113 views

DC motor pid control [closed]

Would a 12V geared DC motor (about 140rpm) (with an encoder) PID controlled as a servo give a study response when subjected to a load?
0
votes
3answers
38 views

Sensing an actuator using vision [closed]

I am looking forward for a method to sense in real time, using computer vision for a control application. For this I am unsure of which is the right platform . I am well versed with MATLAB, but I am ...
0
votes
1answer
189 views

Should the kalmanfilter have disturbance as input?

This is a kalmanfilter As you can see, the process noise(disturbance) is not going to the kalmanfilter. But the state space model for the state feedback system is written as this: https://youtu.be/...
0
votes
1answer
178 views

Can I implement continuous time feedback regulator in an Arduino microcontroller?

Arduino is a digital mikrocontroller. But I wonder if it's possible to implement an continuous time feedback regulator in an Arduino microprocessor? Continuous time feedback regulators such as PID: $...
4
votes
1answer
185 views

Why doesn't this kalmanfilter filter anything? Reduce disturbances and noises with LQG controller

I have a state space model which look like this: $$ \ \begin{bmatrix} \dot{x} \\ \\\dot{\tilde{x}} \end{bmatrix} =\begin{bmatrix} A - BL& BL \\ 0 & A-KC \end{bmatrix} \begin{bmatrix} x\\ \...
0
votes
1answer
40 views

Motor Controller Power Supply

I have an Orange Pi which I would like to use as the computer for a robotic project. It supplies around 15 mAh power directly from the board, barely enough for a single LED so I will have to use ...
1
vote
1answer
109 views

Control a robotic gripper

I have created a robotic gripper. However, I need help in the control circuit: There are two buttons, the upper and lower one (connected to the timer): the upper one is two states timer either up or ...
3
votes
2answers
468 views

Can I write the seperation principle for LQG controllers in this state space form?

Look at this picture. This is the seperation principle diagram. It is an LQG controller which going to control the real life process. What I want to do, is to create a state space model for this ...
2
votes
1answer
73 views

What's wrong in controlling Roll+Roll rate in a quad-copter instead of using 2 separate loops for each?

I am curious to know why we can't apply control algorithm like PID on the weighted signal of Roll and Roll rate in a quad-copter instead of using two loops to control them independently. Fundamentally ...
1
vote
0answers
100 views

Open-source software that supports multi robot simulation and navigation capabilities [closed]

I am interested in knowing a software platform which deals with multi-robot navigation and:- has implemented local collision avoidance algorithms for each robot to prevent collisions between ...
1
vote
1answer
300 views

6DOF Robot Dynamics from Newton-Euler Iterative Algorithm [closed]

I don't know if someone can help me with this but I'm calculating the dynamics of a 6DOF robot using the Newton-Euler iterative dynamics algorithm. I'm following the recursive method (inwards and ...
1
vote
0answers
58 views

Theory behind wheeled inverted pendulum robots [closed]

I'm trying to get a deeper understanding of the theory behind wheeled self-balancing robots. Can anyone point me to a text on dynamic modelling and control theory that might help?
3
votes
1answer
592 views

Guessing the K matrix gain for the Optimal Control LQR?

I'm are going to create a LQR to control a system. The problem is to choose the Q and R weighting matrices for the cost function. The Q and R matrices are going to minimize the cost function so the ...
3
votes
1answer
275 views

Can a state matrix have a row of zeros?

While formulating a state matrix of a system, say a system of a typical cruise controller, \begin{equation} \begin{bmatrix} \dot{v} \end{bmatrix} = \begin{bmatrix} -\frac{b}{m} \end{bmatrix} \begin{...
1
vote
0answers
122 views

Dashboard for IRobot Create 2 [closed]

In case anyone is interested, I build a dashboard for the icreate 2.(http://blog.mindfront.net/2017/06/roomba-dashboard-cli-dashboard-for.html)
1
vote
2answers
462 views

Stepper motor control

I am trying to understand the stepper motor to Mach3 type software control interfaces, mostly from a logical perspective, deducing most of everything because I have no concrete resource to refer. So ...
1
vote
2answers
655 views

Estimating yaw angle and yaw rate for a frontal vehicle

I would like to know if it is possible (and if it is possible how can it be done) to estimate the yaw angle and yaw rate of a vehicle in front of me knowing the following information: -my speed (x,y,...
1
vote
1answer
381 views

Brushless DC motor problems at high velocities

For a project we use a brushless DC (BLDC) motor. Everything works fine until we tried to reach high velocities. I will first explain my setup, and than explain our problems using some graphs. 1.0 ...
1
vote
1answer
77 views

How to update the cartesian target when the robotic arm has a communication delay?

My robot system uses a 3D mouse to teleoperate the robotic arm's TCP. The robot returns its TCP's position every 10-20 milliseconds to the remote PC. The remote PC returns the new destination based on ...
3
votes
2answers
475 views

Two-wheeled self-balancing robot - Choosing the control system

Would an Arduino Uno have the precision-timing required (using only firmware) to control a two-wheeled inverted pendulum robot, or would it need a RTOS? Note: Thanks for both answers, they both ...
0
votes
1answer
1k views

Adding a floating joint to a sphere in urdf

I am trying to create a sphere that I can control through pybullet. I have a basic urdf specification that looks like this: ...

1
3 4
5
6 7
12