Questions tagged [control]
A method or device to manage, command or regulate some part of a system.
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3DOF robot in Moveit
I have a 3-DOF robot arm with 2 revolute joints and 1 prismatic joint. I use my custom RRT-Connect algorithm to create random nodes based on joint limits and obstacle avoidance, and then generate a ...
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Firewall on laptop must be disable before launching robot
Ubuntu 24.04 on laptop and RPI5 on robot.
ROS2 Jazzy.
linorobot with micro ros.
I'm using a xbox joystick connected to a laptop which uses WiFi to control a ...
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RX-1 robot arm oscillation - motor issue or mechanical frame problem? (STS3215 servos)
I'm working on an RX-1 humanoid robot with dual arms. All joints use STS3215 serial bus servos with a 1:345 gear ratio. The system is powered by 12V at 7A, and the structure is built with 3D printed ...
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How to achieve smooth and very precise RCM-constrained motion?
EDIT: Sorry guys this is my first post of this nature so I messed it up, let me try to fix it.
I'm studying robotics and really like the control side of it.
I recently did my internship on Franka ...
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How to obtain taskspace dynamic control of a redundant 4 DOF manipulator for 3D spatial translation?
So I'm trying to develop a dynamic controller in taskspace to track arbitrary motion. Referencing the Modern Robotics textbook by Kevin Lynch, the taskspace dynamics is given by
But it explicitly says ...
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ROS 2 Humble + Gazebo: Robot not moving
I'm working on a 4WD robot simulation in ROS 2 Humble and the Gazebo for my personal and first project on ROS2. I've created a manual C++ controller node that subscribes to /cmd_vel and publishes ...
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How to obtain dynamic model of 4 DOF manipulator to develop task space control
so I'm trying to simulate and develop a task space controller for a 4 DOF manipulator in MATLAB/Simulink. Problem is how do I obtain the dynamic model so I can develop the controller? I know about ...
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Using ROS2 with AUBO-i10
At my company we have an AUBO-i10 manipulator and the controller software version is V4.5, using AUBO PE, and we're trying to using ROS2 with these description, driver files,.. from this Github link ...
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Need Help with LQR Control for Rotary Inverted Pendulum Simulation in Unity
Hi everyone,
I'm currently working on building a digital twin of a Rotary Inverted Pendulum in Unity. My goal is to stabilize the pendulum using an LQR (Linear Quadratic Regulator) controller. I've ...
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How to mitigate caster wheel inertia for exact control?
I am working on a 4-wheel differential drive robot with two large caster wheels in front. I have built up a ROS 2 (Jazzy) application which integrates Nav2.
Due to the kinematics of the robot, the ...
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Using a UI to manually control ground rover through MAVROS
I am currently working on making a ground rover move through a UI. My PixHawk model is PixHawk 6X using PX4 firmware. I have already connected it with MAVROS using this:
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How does ZMP-based walking control actually work?
I am trying to implement basic walking controllers for a custom biped robot with two 5DOF legs that I have simulated in ROS2 + Gazebo with its inverse kinematics solved. I do not have a controls ...
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How do you control "torque" of motors in practice?
Many robots can be written using a model of the form (https://underactuated.csail.mit.edu/intro.html)
$$M \ddot \theta + C \dot \theta + g(\theta) = u$$
where $u$ is the generalized torque (in units $...
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CONTROLLING 3-axis GIMBAL CAMERA IN GAZEBO
I'm using Gazebo with Ardupilot.
how to control gimbal camera manual or autonomously in Gazebo simulation?
Any guidance or advice would be greatly appreciated!
Thanks in advance for your help!
I ...
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Why model robots when you have forward and inverse kinematic equation?
Forward and inverse kinematics involve finding relationship between the the joint angle and the end effector position.
Let this relation be some function $f$ and let $x = f(\theta)$ be the ...
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