Feedback Control Robot Arm Position Control Using a

Feedback Control Robot Arm Position Control Using a Joystick CDI 2000 IRVING LIIMATTA JOE JOHNSON

Feedback Control Diagram Example: Robot Arm Position Control Using a Joystick Byte Value: 254 Physical: Arm Full Down Byte Value: 127 Phyical: Arm Mid Point Byte Value: 0 Physical: Arm Full Back Control: Joystick

Feedback Control Robot Diagram Example: Robot Arm Position Control Using a Joystick Arm Mid Point (127) Arm Full Back (0) Arm Full Down Front of (254) Robot Note: Values in ( ) represent the pot values. Output of 254 to Victor drives arm CCW Output of 0 to Victor drives arm CW Robot: Arm

Feedback Control and Robot Diagrams Example: Robot Arm Position Control Using a Joystick Arm Mid Point (127) Byte Value: 254 Physical: Arm Full Down Byte Value: 127 Phyical: Arm Mid Point Byte Value: 0 Physical: Arm Full Back (0) Arm Full Down Front of (254) Robot Note: Values in ( ) represent the pot values. Output of 254 to Victor drives arm CCW Output of 0 to Victor drives arm CW Control: Joystick Robot: Arm

Feedback Control Block Diagram Example: Robot Arm Position Control Using a Joystick System Input + Error Compensator Sensor Motor System Output

Feedback Control PBasic Code Example: Robot Arm Position Control Using a Joystick arm. Joystick VAR BYTE ‘Joystick position value arm. Pot VAR BYTE ‘Pot value that states the actual position of the arm VAR BYTE ‘Output value to Victor ARM_GAIN CON 2. <Read Joystick Value> <Read Pot Value> Arm. Feed. Back. Control: if (arm. Joystick > arm. Pot) then Arm. Down arm = 127 - (((arm. Pot - arm. Joystick) * ARM_GAIN) MAX 127) goto End. Arm. Feed. Back. Control Arm. Down: arm = 127 + (((arm. Joystick - arm. Pot) * ARM_GAIN) MAX 127) End. Arm. Feed. Back. Control: . <Output to Victor>