cs685-control-1

cs685-control-1 - Robot Control Basics CS 685 Mobile robot...

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1 Robot Control Basics CS 685 Mobile robot kinematics Differential drive mobile robot Two wheels, with diameter , point P centered Between two wheels is the origin of the robot frame Each wheel is a distance from the center r l
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2 Some terminology Effector (legs, arms, wheels, fingers) Actuatuator – enables effector to execute motion (electric, hydraulic) Degree of freedom DOF Rigid body 6 DOF, mobile robot 3 DOF Simplest case one actuator controls one DOF all degrees of freedom are controllable Sometimes some DOF cannot be controlled directly car-like mobile robot – 3-DOF , two control inputs (nonlinear velocity constraints between how DOF are controlled and control inputs - nonholonomic constraints Previously Kinematics models of kinematic chain, arm and mobile robot Relationship between the position of the end- effector and joint angles (manipulator), pose of the mobile robot and angular and linear velocities Control and Planning - How to do the right thing ? 1. Open loop control 2. Feedback control 3. Potential field based methods (feedback control)
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3 Manipulator case # degrees of freedom of a robot - # of independent parameters needed to describe the configuration of the robot # of degrees of freedom of manipulator = # ofjoints of manipulator In general – control problem – need to generate set of control commands to accomplish the task In an open loop setting there are two components 1. Geometric Path Generation 2. Trajectory tracking (trajectory – time indexed path) Path Path – curve in configuration space Configuration space is a space of all possible states (transformations) robot can be in Examples of configuration space of manipulator, configuration space of mobile robot Example manipulator configuration space Cross product of the range of all joint angles Revolute joints Revolute and prismatic joints
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4 Path Path – curve in configuration space Problem of finding a collision free path – problem of path planning (next week) Now: Given a space curve along which we want the robot to move in work space Sometimes initial and final configuration only – some other times the entire set of waypoints There are many different trajectories between two end points Example trajectory generation Given end points in either work space or joint
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cs685-control-1 - Robot Control Basics CS 685 Mobile robot...

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