Robotics Basic OnOff Control Considerations OnOff Control Forms

Robotics- Basic On/Off Control Considerations

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

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

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

Problem- Travel to Target Robot Problems- how to start moving, what direction, how fast and how far to go, and when to stop

Robot uses sensors to determine when to stop: touch(contact), light, time, distance Robot Speed, Time, distance

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. )

Bang Control • Turn on • Check result • Decide to turn on or off • Repeat

Bang Control

Iterative Estimation • Measure Control variable • Estimate how much to control • Turn on and control to estimate • Repeat….

Continuous Control • Measure control variable • Calculate correction • Turn on and control to correction • Repeat… (how often, how fast? )