New answers tagged control
2
If I understand correctly you are not looking for a control scheme, you are tryin to solve the (inverse) kinematics problem.
In robotics, kinematics is preoccupied with motions, disregarding forces. The simplest kinematic problem, which applies in your case is the forward kinematics problem, which can be formulated as:
How to calculate the position and ...
0
Efficiency is power output divided by power input. Electrical power, your input, is
$$
P = IV \\
$$
Mechanical power, your output, is
$$
P = Fv \\
$$
or
$$
P = \tau \omega \\
$$
that is, force times speed or torque times angular speed. If you are stalled, then your speed is zero. If your speed is zero then your power is zero and your efficiency is zero.
As ...
3
Electric motors designed for stall torque can handle stall torque just fine. One giveaway sign of high stall torque motors is forced cooling (cooling with a powered fan and not just a fan mounted passively on the axis of the motor). One of the issued with stalling motors is heat, as the stopped rotor does not facilitate and airflow and the winding are more ...
0
The position values look like they're getting to the callback okay, but then you're not doing anything with them in the callback. I can't see where posi.x or posi.y are defined, but what if instead of:
def pose_callback(msg):
print(msg.x,msg.y,msg.theta)
return
you had:
def pose_callback(msg):
posi.x = msg.x
posi.y = msg.y
print(posi.x,...
1
If you want to work with higher velocities, you need to look into velocity controller as well. You can also try incorporating velocity control into your control system. It enables smooth stopping to point which can alleviate your problem. But a generic PID controller with just position control should not overshoot too much if tuned correctly and the maximum ...
1
How is the (P) controller not standing up to its task ?
Well, just like you said - how is it not standing up to its task? What is it doing that makes you think it's not working? You said,
I tried multiple values of Kp but could not succeed
Nobody here knows what that means. "Could not succeed" could be a lot of problems. My guess is that you're ...
0
No, your statement is not entirely correct. During the teaching of the robot the trajectory in geometrical terms (positions velocities, maybe accelerations) are recorded, not torque. The trajectory is then replayed (although in many cases only some way points are recorded not in entire trajectory)
The inverse dynamics is not learned. All parameters of the ...
2
There's a Matlab function block. Follow the example and your inputs and outputs will create source/sink connections on the Simulink block to wire in values.
I would only put the controller in there, and don't use the clear all command - if it's not persistent then a variable inside a function ceases to exist between function calls. Every call to the function ...
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