12 - How to Control a Robot (I) - Introduction to Control Theory

12 - How to Control a Robot (I) - Introduction to Control Theory

Info iconThis preview shows pages 1–5. Sign up to view the full content.

View Full Document Right Arrow Icon
ELEC300V – Fundamental of Electro-Robotics Fall 2008 t 12 H t t l R b t (I)? Lecture 12: How to control a Robot (I)? Introduction to control theory
Background image of page 1

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
hy do we need control? Why do we need control? b d If during the A robot needs to move in a straight line or close to a it as uch as possible movement, the movement of the robot gets disturbed much as possible The robot will deviate from its destination Therefore we need to have controller to control its movement in real time based on its movement and the destination
Background image of page 2
Controller d ll l h f h b We need a controller to control the movement of the robot The aim of the control is to make the combined system consisting of e robot and the controller stable (i e do not deviate from the goal so the robot and the controller stable (i.e. do not deviate from the goal so much) wo types of control methods Two types of control methods Open-loop control – move the robot with a pre-determined way Can we stabilize the robot with open-loop control p p Close-loop control Use the output (i.e. the location of the robot) to adjust the input (i.e. the direction and may be speed of the movement of the robot) We also call it feedback control, since we make the control decision sed on the output feedback based on the output feedback.
Background image of page 3

Info iconThis preview has intentionally blurred sections. Sign up to view the full version.

View Full DocumentRight Arrow Icon
Components required for the control mechanism Sensor Controller Actuator
Background image of page 4
Image of page 5
This is the end of the preview. Sign up to access the rest of the document.

Page1 / 13

12 - How to Control a Robot (I) - Introduction to Control Theory

This preview shows document pages 1 - 5. Sign up to view the full document.

View Full Document Right Arrow Icon
Ask a homework question - tutors are online