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

Robot

Problem- Travel to Target

Problems- how to start moving, what direction, how fast and how far to go, and when to stop

Robot

Speed, Time, distance

Robot uses sensors to determine when to stop:touch(contact), light, 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 Bang Control

• Turn on

• Check result

• Decide to turn on or off

• Repeat

Bang 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?)