robotics- basic on/off control considerations. on/off control forms the basis of most robotics...
TRANSCRIPT
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Robotics- Basic On/Off Control Considerations
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On/Off Control
• Forms the basis of most robotics operations
• Is deceptively simple until the consequences are experienced
• Can be frustrating, as we evaluate success based on our own intelligence, experience, and complex use of our senses
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What we will examine…
• Software Design for Control, Use of Sensors w/ demonstrations
• On/off control and variations
• Bang/Bang control
• Iterative Estimation
• Continuous control forms
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On/off control and variations
• On and off control of(some output)
• Some output
• Motor
• Light
• Sound
• Triggered by some input
• Time
• Sensor input of Physical condition
• Combination
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Robot
Problem- Travel to Target
Problems- how to start moving, what direction, how fast and how far to go, and when to stop
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Robot
Speed, Time, distance
Robot uses sensors to determine when to stop:touch(contact), light, time, distance
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On/off control and variations
• Demonstration
• Problems
• Errors in sensing
• Repeatability
• Changing conditions
• Battery power, motor strength, etc.
• Unknowns in sensed parameters(distance, light conditions & color, etc.)
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Bang Bang Control
• Turn on
• Check result
• Decide to turn on or off
• Repeat
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Bang Bang Control
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Iterative Estimation
• Measure Control variable
• Estimate how much to control
• Turn on and control to estimate
• Repeat….
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Continuous Control
• Measure control variable
• Calculate correction
• Turn on and control to correction
• Repeat… (how often, how fast?)