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2
votes
1answer
94 views

Definition of (or determine whether something is) a robust controller?

I am bit uncertain how I should interpret the definition of an robust controller. As far I've understood, the closed loop system including the controller has to have a high gain for frequencies ...
2
votes
1answer
272 views

Transfer function of DC motor being unstable due to a controller?

I am having a hard time grasping the concept of a DC motor with load being unstable, and stable due to a controller My confusions appears as I am trying to design a controller for one using Z-N ...
1
vote
2answers
104 views

How can I dynamically control the amount of torque necessary to rotate something for a test rig?

I'm looking to build a test rig for a robot that rotates a 1" diameter pipe 180º (roll not yaw or pitch). I am currently testing a motor's performance when subjected to various kinds of PWM (high duty ...
1
vote
1answer
298 views

proper tuning method of an cascade controller?

Would a control system consisting of 2 PID controller one plant would be considered as an cascade controller?? And how come would a proper tuning method be? As far i've googled it seems to me that ...
0
votes
2answers
170 views

What parts do I need for a strong robotic arm? [closed]

https://www.youtube.com/watch?v=MPhhYlIq294 I have found this robotic arm on the internet, and I was wondering if someone can tell me what parts I need to build it or similar. The video says it can ...
4
votes
2answers
12k views

Quadcopter PID output

I'm trying to develop a control system to a quadcopter and one of my options is to use a PID controller (which I think is the most used method). From what I've read, the commom strategy is to run a ...
2
votes
2answers
183 views

How do I learn about Arduino/raspberry-pi based robotics on my own? [closed]

I am interested in learning how to build a dynamic quadcopter, and hope to be fairly proficient with Arduino/raspberry-pi. What resources and/or practices might you recommend?
1
vote
0answers
85 views

McKibben artificial muscles and the 400:1 ratio

I was recently reading that those artificial muscles had the highest power/weight ratio while electric motors only have a ratio of less than 100:1. As electrical engineer I have never worked with ...
1
vote
0answers
37 views

Actuation of three reciprocating blades via conversion of rotary to linear

Sorry if this is out of robotics, but this seemed the closest. A motor has to be used to rotate three cranks. They are in the same plane, but each should not run at the same time. Only one that ...
1
vote
1answer
3k views

PID tuning method based on Pole placement

Is it possible to determine PID parameter using pole placement. I mean by solving the ch. eq. of close loop transfer functions which consists of either P,PI,PD or PID controllers?? Because i've ...
5
votes
5answers
792 views

How does a robot efficiently store a map it makes?

From what I understand, you can create a map using sensors and storing values in an array. For example, the array can have 0's for places not visited, and 1's for places visited, or 0's for open ...
2
votes
1answer
289 views

LQR design with low effort

I am trying to implement a controller for an inverted pendulum using LQR (with MATLAB command lqr(A,B,Q,R)). The problem is that the motors are relatively weak, so I tried to increase R, but ...
2
votes
1answer
109 views

What does this “inverse” peak mean? (step function)

I identified my system and now I am trying to tune PI regulator since I think I do not need D. I came across this graph while Matlabing and I do not know what does it mean. I am using pidtune() to ...
3
votes
1answer
351 views

how does poles and zeroes affect the step response of an transfer function?

I have this close loop transfer function: It overshoots, but why? The poles are placed such that that the damping = 1, so why the overshoot?
2
votes
1answer
121 views

Best strategy for area scanning using little sensing bots

I'm currently working on a school project about simulating robots scanning an area, but it has been a struggle to find what strategy the robots should use. Here are the details: I am given a certain ...
3
votes
1answer
397 views

How PID affect the Root locus of a close loop transfer function

I am trying to understand how a PID controller moves the poles and zeros of an transfer function. I've been playing a bit with it, but aren't able to see some kind of connection. I mean that P and ...
1
vote
1answer
336 views

Does RoboRIO support Java 8?

My FRC team will recently upgrade from CompactRIO to RoboRIO. CompactRIO only supports up to Java 1.4. What version of Java does RoboRIO?
1
vote
1answer
807 views

Quad copter attitude control

I have built a quad copter completely from scratch (electronics, mechanics and software). I am now at the point where all my sensor data looks correct and when I tilt the quad copter the correct ...
2
votes
1answer
2k views

Is it important to have good PI settings when we running in self-level with kk2?

I have a kk2.1.5 and I fly with the self-level on. In the kk2, there are two menus. One to set PI-settings and another with selflevel-settings. Both enable to set P-Gain and I-Gain. Is it important ...
7
votes
5answers
5k views

Why does a ID controller not exist?

Why doesn't a PID only consisting of ID exist?
4
votes
3answers
6k views

Controlling digital servos

Many websites say that analog servo motors work on 50Hz and digital servo motors work on 300Hz. My question is, does this difference apply only to the inner control loop of the servo or does the user ...
7
votes
1answer
958 views

understanding the PID controller

I am trying to understand the effects of P, I and D constants in a PID controller on a system. As far I've understood, P and I make the system 'faster', and D makes it 'slower'(which I read in books),...
1
vote
0answers
85 views

How do i use the Nicolas ziegel approach if my system never becomes unstable?

How do i use the Nicolas Ziegel approach when the root locus plot of my system never becomes marginally stable , for any gain (unless it is negative).. ?? How do i estimate my ultimate gain value????
1
vote
2answers
501 views

Suggestions for stepper motor controllers [closed]

I am working on a project where a dslr camera will be rotated on a tripod on 2 axes. I'm definitely using nema 17 motors as those are what I have. The motors will rotate 30 degrees every 5 seconds in ...
3
votes
1answer
611 views

Effect of adding a Pole and Zero to PID

I am confused about how adding a D (which adds a zero to the complete system) decreases the speed of the system. But when we normally add a zero to the system, it causes the system to overshoot. The ...
3
votes
2answers
468 views

Simon K firmware when the IMU outputs at 50HZ

I am building a Quadcopter using the Sparkfun Razor IMU which outputs the Roll, Pitch and Yaw axes values at 50 Hz, which limits the operations of the controller(implemented on Arduino IMU), to 50 Hz ...
4
votes
1answer
2k views

Grasshopper effect on a quadcopter with kk2.1.5

We have builded a quadcopter that use the flight manager kk2.1.5 with the latest firmware. When we increase the throttle, it flight. When we keep the hand on the stick we are able to maintain it but ...
4
votes
1answer
502 views

Solutions for Finding Position and Heading in a Multi-Level House

I was wondering if you could reccomend possible solutions for locating a robot within a multilevel house. What seems obvious to me is that need an altitude sensor to derive the story the robot, and a ...
2
votes
1answer
607 views

Salvaging a bunch of laptop battery packs

I'm working on my first robot project. I previously used a 12V 6Ah sealed lead acid battery, but recently I aquired some 15 ASUS Li-Ion battery packs, each of them 14.8V and either 2200 mAh or 4400 ...
3
votes
1answer
8k views

How to read data from i2c using i2cget?

I'm new to embedded devices and am trying to understand how to use i2cget (or the entire I2C protocol really). I'm using an accelerometer MMA8452, and the datasheet says the Slave Address is 0x1D (if ...
6
votes
1answer
3k views

What are some good cheap, silent, motors for mannequin robots and what kind of controller should I use? [closed]

What are some good cheap, silent, motors for mannequin robots and what kind of controller should I use? I'm creating mannequin robots that require 24 motors: 2 neck, 4 shoulder, 2 elbow, 4 wrist, 2 ...
3
votes
1answer
2k views

Outputting a precise voltage in millivolts on Arduino Mega

So I need to output a varying voltage off an Arduino Mega in a range of 17 to 32 millivolts, which I've attempted to do by sending a PWM signal off the board into a low-pass filter which steps down ...
3
votes
1answer
144 views

Filling 30mL bottles with food-grade liquid

A project has been given to me at work, with no schematics or idea of where it was going. I need to fill 5 30ml bottles at a time with a food-grade liquid. Based on the parts I have, I think the ...
5
votes
2answers
603 views

Static equilibrium for 7 dof manipulator

I have a 7 dof manipulator (Kuka LBR4+) and would like to calculate the joint torques needed to keep the arm in a static equilibrium. In most books the transposed jacobian is used to map the forces ...
5
votes
2answers
185 views

Can you identify the construction material/system used in the pic?

What's the name of the "big meccano" used in the photo below to construct all the cabinets and racks? It appears to be an aluminium cut-to-length system of 4-way rails. I've seen it used many times ...
2
votes
1answer
137 views

How do I add an external library to the Rock Framework?

The Rock framework already includes a lot of software libraries. However, I would like to add an existing external library so that I can use it for my component development. What is the preferred way ...
2
votes
1answer
89 views

What to use as electrovalve?

I want do make following installation (blowing bottle tops as music instrument): ...
5
votes
4answers
151 views

Why linkage-based haptic devices are much more common than cable (tension)-based ones?

According not only to this link, but in my humble opinion to common sense as well, cable-based haptic devices have got lower inertia and are less complicated mechanically. I also believe that ...
3
votes
2answers
912 views

Connect sensors to beaglebone/arduino in a complex robot

I'm building the biggest robot I've ever done. The hardware I have so far is as follows: HCR-Platform from DFRobot as a base x2 12V 146Rpm DC motor with two phase hall encoder x7 Sharp 2Y0A21 IR ...
3
votes
2answers
443 views

How to calibrate differential drive?

I'm building a robot with differential drive. I've reached the point when I can drive it around on remote control and I'm trying to get the localization working. Now I would like to exactly measure ...
2
votes
1answer
299 views

SLAM without data association?

I would like to build 2D EKF-SLAM in openGL. I've implemented the entire virtual environment in which there is a robot that moves in 2D and there are some landmarks(feature-based map). I have the ...
1
vote
0answers
20 views

Find the right actuator to control the flow of flour [duplicate]

I'm building a circuit to control the flow of flour. The basic idea is to open that actuator (Possibly valve?) to let a specific amount go through and then close it. The tube should have a diameter of ...
1
vote
2answers
2k views

Differential Drive Robot Control

Edited: I have a differential drive robot that needs to drive down a hall and stay in the center. I have 4 ultra sonic sensors, 2 on each side. Currently, I thought of implementing pure pursuit and ...
2
votes
0answers
199 views

Simplest way to do object tracking with a 2D range finder sensor? [closed]

My current class assignment is to program a robot through a course that includes two moving obstacles – other robots moving at constant speed around a region the one robot must get to. Since the other ...
2
votes
1answer
66 views

How long can a VEX pneumatic arm be?

How long can a vex pneumatic piston be?
-2
votes
1answer
160 views

Create set of drones to fly in patterns [closed]

How would one go about making a number of drones fly in a preset pattern or formation. for example have them rotating around a point. something like this. https://www.youtube.com/watch?v=ShGl5rQK3ew
7
votes
2answers
6k views

How to get prevent twisting of cables

I am planning to create a motor turret described in this question. But to simplify the problem, I'm thinking of a wind turbine with a generator in the main head that can rotate freely through 360 ...
1
vote
1answer
131 views

Need specifications to operate this stepper motor with RPi or Arduino

Here is the disassembled stepper motor that I'm working with: Contains the photo of the motor, and the label that's on the bottom of the motor. I need to identify this stepper motor that was ...
9
votes
2answers
5k views

Our quadcopter goes forward instead of hovering in place. How to correct it?

I'm trying to do a quadcopter with some friends and we have a problem. It goes forward instead of hovering in place. We made a video to explain it, you can see it here. As you can see, the quadcopter ...
1
vote
1answer
78 views

CTL port in a motor controller [closed]

When I look at my 160A motor controller, it has a port that is called "CTL." What does CTL stand for? Is that a sort of protocol like RS232?

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