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The main two things I do for an a linux system for which I want to be able to kill power freely are: Choose appropriate filesystems and configure them to recover cleanly on restart. The choice depe …

The farther away the actuator is from the goal, the harder the actuator tries to reach the goal. That is the (P)roprtional part of PID. The longer amount of time the actuator is blocked from the goal …

In simple control, the feedback portion of your control system is that which uses measurements of the parameter you are trying to control in its calculations. … So in simple theory, feedforward control is control that does not need to use measurements of the target parameter. But then things get messy. …

Reverse engineering is the term you are looking for. Search reverse engineering ar drone or reverse engineering phantom to get started. Reverse engineering embedded systems can be really educational …

For force control you have a few other options. … Don't worry about force control, add whatever compliance you need for safety in any form (a rubber section in the link perhaps) and let the learning algorithm handle the control details... …

As soon as you move from only math to the real world, a couple things become quickly apparent. 1) The whole point of most of control theory is to control a system that is more complex than the controller … If not for disturbances and non-linearities, we'd just write an equation for the perfect control input rather than use techniques like PID. 2) Underactuated control is a whole sub-field of control dedicated …

Switch to torque control, do your own PID calculaton and add feedforward control for gravity compensation and support spring compensation. … All of the above should help regardless if the vibration is from motor, mechanism, or control. …

There are a couple good options depending on the scale of your project for capturing a ground truth. For large scale outside (cars or agricultural vehicles) RTK GPS can be had for a very reasonable …

If I understand correctly, you are referring to when the robot spins and the rack remains stationary (dynamic motions involving the rack mass seem to be slow as you would expect with such a high COM). …

So not only do we need control for walking, and control for exception recovery, but also good perception and environment models to predict where we need to change our control to a different, more appropriate … It's not a control problem, it's a total system of perception, planning, reflex, and control that needs to be designed. …

Nice detail in your question. The somanet site makes a big deal about their firmware being open source, so you should be able to check the timing in the code (or otherwise get the help of the somanet …

Since you include no equations, all we can say is that yes, the Newton-Euler algorithm works and the fact that you are not getting the expected results means that you implemented the algorithm incorre …

CANopen is a application level protocol and socketcan is at the transport level. You can send Canopen messages using socketcan without any problems. You can compose canopen messages by hand but it …

For small, low torque motors with little or no gearing, one procedure you can use to get a good baseline tune is to probe it's response to a disturbance. To tune a PID use the following steps: Set …

The concept you might be missing is homeomorphism. The donut=coffee cup visual example at that link might help. Of all the ways you can change the environment (move the obstacles) there is a subset of …