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ISM 101 Guest Lecture on Robotics and Control

ISM 101 Guest Lecture on Robotics and Control. 24.Feb.2005 Gabriel Hugh Elkaim. Gabriel Hugh Elkaim. Background: Aerospace Engineering Interest: Robotics/Embedded Systems. Assistant Professor Computer Engineering 353B Baskin Engineering elkaim@soe.ucsc.edu (831) 459-3054. ASL LAB.

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ISM 101 Guest Lecture on Robotics and Control

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  1. ISM 101Guest Lecture on Robotics and Control 24.Feb.2005 Gabriel Hugh Elkaim 1

  2. Gabriel Hugh Elkaim • Background: Aerospace Engineering • Interest: Robotics/Embedded Systems Assistant Professor Computer Engineering 353B Baskin Engineering elkaim@soe.ucsc.edu (831) 459-3054 2

  3. ASL LAB • Santa Cruz Autonomous Systems Lab • Robotics and Embedded Systems • Sensor Fusion • Robust Software Design 3

  4. Relevant Expertise • Feedback Control Systems • Embedded System Software/Hardware • Mechatronic Design • Microcontroller/DSP projects • Navigation/Guidance Systems • Global Positioning System 4

  5. Relevance to ISM Autonomous Mobile Platforms depend on: • Sensing – environment, position, pose or attitude, obstacles, etc. • Path Planning (traditional A/I) – given the environment, get to objective • Control – How do you track the trajectory that you have generated 5

  6. Outline • Robotics in general • Sensors in general • Types of Sensors • Filtering Issues • Control in general • PID (Proportional Integral Derivative Control) • Example, 3 wheeled ground vehicle 6

  7. Robotics • Czech word Robota means compulsory labor. • “Rosum’s Universal Robots” written in 1920 by Czechoslovakian author Karel Capeck • Robotics: technology dealing with the design, construction, and operation of robots. 7

  8. Robots According to Merriam-Webster: 1 a: a machine that looks like a human being and performs various complex acts (as walking or talking) of a human being; also: a similar but fictional machine whose lack of capacity for human emotions is often emphasized b: an efficient insensitive person who functions automatically2: a device that automatically performs complicated often repetitive tasks3: a mechanism guided by automatic controls 8

  9. My Definition • Look at a Venn diagram of Mechanical and/or Electrical Hardware, Software, and Control Systems. • Robotics is the overlapping area at the center of the three Mechanical Robotics Software 9

  10. What are some of the Issues? • Configuration • What mechanical scheme do you need to complete the mission • Example: UAV that deploys from a type “A” sonobuoy (36” long x 4.875” in diameter) • Example: Pipe Inspection must negotiate 90 degree bends, self contained, etc. 10

  11. Navigation • How do you know where you are? • Outdoors • Underwater • In Space • Indoors • Underground 11

  12. Guidance • Where do you want to go? • How fast do you need to get there? • Is there anything in the way? 12

  13. Control • How do you get from where you are, to where you want to go? • What if something is not as predicted 13

  14. Odometry 14

  15. GPS – Global Positioning System 15

  16. Inertials 16

  17. Attitude 17

  18. Control Issues • Get the device to do what it is commanded • Open Loop Control • Feedback Control • Must have a sensor • Increases Disturbance Rejection • Decreases Sensitivity to parameter variation • Entire specialty of engineering 18

  19. Examples of Control Systems • Toilet Bowl • Cruise Control • Thermostat on House • Missile Guidance System • Mobile Robot Obstacle Avoidance • Many, many more 19

  20. Cruise Control in Detail 20

  21. Cruise Control – Open Loop 21

  22. Cruise Control – Closed Loop 22

  23. Generic Control System Block Diagram 23

  24. Sensor Issues • Dynamic Range • Linearity • Hysteresis • Quantization • Temperature Effects • Bandwidth 24

  25. Sensors – Linearity 25

  26. Sensors – Dynamic Range 26

  27. Sensors – Hysteresis 27

  28. Sensors – Quantization 28

  29. Sensors – Temperature Effects 29

  30. Sensors – Bandwidth 30

  31. Actuator Issues • Power / Strength • Linearity • Hysteresis • Quantization • Temperature Effects • Bandwidth 31

  32. Control System – PID • Proportional • Integral • Derivative 32

  33. Control System – Motor Drive 33

  34. Control System – Motor Drive 34

  35. Control System – Voice Coil 35

  36. Control System – Voice Coil 36

  37. Control System – Heater 37

  38. Control System – Heater 38

  39. Control System – Motor Drive w/P 39

  40. Control System – Voice Coil w/P 40

  41. Control System – Heater w/P 41

  42. Control System – Motor Drive w/I 42

  43. Control System – Heater w/I 43

  44. Control System – Motor Drive w/PI 44

  45. Control System – Heater w/PI 45

  46. Integrator Windup – Motor Drive w/PI 46

  47. Integrator Limit – Motor Drive w/PI 47

  48. Control System – Voice Coil w/PD 48

  49. Control System – Heater w/PID 49

  50. PID Controllers • Proportional gain increases response speed, to much gain causes system to ring. • Integral gain kills steady-state error, wind-up and/or too much gain can cause system to go unstable. • Derivative gain adds damping and stability, but is sensitive to jitter and noise. 50

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