ism 101 guest lecture on robotics and control
DESCRIPTION
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 [email protected] (831) 459-3054. ASL LAB. - PowerPoint PPT PresentationTRANSCRIPT
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1ISM 101 Gabriel Hugh Elkaim
ISM 101Guest Lecture on Robotics and Control
24.Feb.2005Gabriel Hugh Elkaim
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2ISM 101 Gabriel Hugh Elkaim
Assistant ProfessorComputer Engineering
353B Baskin [email protected]
(831) 459-3054
Gabriel Hugh ElkaimGabriel Hugh Elkaim•Background: Aerospace Engineering
•Interest: Robotics/Embedded Systems
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3ISM 101 Gabriel Hugh Elkaim
ASL LABASL LAB
• Santa Cruz Santa Cruz Autonomous Systems Autonomous Systems LabLab
• Robotics and Robotics and Embedded SystemsEmbedded Systems
• Sensor FusionSensor Fusion• Robust Software Robust Software
DesignDesign
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4ISM 101 Gabriel Hugh Elkaim
Relevant ExpertiseRelevant Expertise
• Feedback Control SystemsFeedback Control Systems• Embedded System Embedded System
Software/HardwareSoftware/Hardware• Mechatronic DesignMechatronic Design• Microcontroller/DSP Microcontroller/DSP
projectsprojects• Navigation/Guidance Navigation/Guidance
SystemsSystems• Global Positioning SystemGlobal Positioning System
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5ISM 101 Gabriel Hugh Elkaim
Relevance to ISMRelevance to ISM
Autonomous Mobile Platforms depend on: Autonomous Mobile Platforms depend on:
• Sensing – environment, position, pose or Sensing – environment, position, pose or attitude, obstacles, etc.attitude, obstacles, etc.
• Path Planning (traditional A/I) – given the Path Planning (traditional A/I) – given the environment, get to objectiveenvironment, get to objective
• Control – How do you track the trajectory Control – How do you track the trajectory that you have generatedthat you have generated
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6ISM 101 Gabriel Hugh Elkaim
OutlineOutline
• Robotics in generalRobotics in general• Sensors in generalSensors in general
– Types of SensorsTypes of Sensors– Filtering IssuesFiltering Issues
• Control in generalControl in general– PID (Proportional Integral Derivative Control)PID (Proportional Integral Derivative Control)– Example, 3 wheeled ground vehicleExample, 3 wheeled ground vehicle
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7ISM 101 Gabriel Hugh Elkaim
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.
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8ISM 101 Gabriel Hugh Elkaim
RobotsRobots
According to Merriam-Webster:According to Merriam-Webster:1 a1 a :: a machine that looks like a human being and a machine that looks like a human being and performs various complex acts (as walking or performs various complex acts (as walking or talking) of a human being; talking) of a human being; alsoalso :: a similar but a similar but fictional machine whose lack of capacity for fictional machine whose lack of capacity for human emotions is often emphasized human emotions is often emphasized bb :: an an efficient insensitive person who functions efficient insensitive person who functions automaticallyautomatically22 :: a device that automatically performs a device that automatically performs complicated often repetitive taskscomplicated often repetitive tasks33 :: a mechanism guided by automatic controls a mechanism guided by automatic controls
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9ISM 101 Gabriel Hugh Elkaim
My DefinitionMy Definition
• Look at a Venn Look at a Venn diagram of diagram of Mechanical and/or Mechanical and/or Electrical Hardware, Electrical Hardware, Software, and Control Software, and Control Systems.Systems.
• Robotics is the Robotics is the overlapping area at the overlapping area at the center of the threecenter of the three
GNCGNC
MechanicalMechanical
SoftwareSoftware
RoboticsRobotics
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10ISM 101 Gabriel Hugh Elkaim
What are some of the Issues?What are some of the Issues?
• ConfigurationConfiguration– What mechanical scheme do you need to What mechanical scheme do you need to
complete the missioncomplete the mission– Example: UAV that deploys from a type “A” Example: UAV that deploys from a type “A”
sonobuoy (36” long x 4.875” in diameter)sonobuoy (36” long x 4.875” in diameter)– Example: Pipe Inspection must negotiate 90 Example: Pipe Inspection must negotiate 90
degree bends, self contained, etc.degree bends, self contained, etc.
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11ISM 101 Gabriel Hugh Elkaim
NavigationNavigation
• How do you know where you are?How do you know where you are?– OutdoorsOutdoors– UnderwaterUnderwater– In SpaceIn Space– IndoorsIndoors– UndergroundUnderground
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12ISM 101 Gabriel Hugh Elkaim
GuidanceGuidance
• Where do you want to go?Where do you want to go?
• How fast do you need to get there?How fast do you need to get there?
• Is there anything in the way?Is there anything in the way?
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13ISM 101 Gabriel Hugh Elkaim
ControlControl
• How do you get from where you are, to How do you get from where you are, to where you want to go?where you want to go?
• What if something is not as predictedWhat if something is not as predicted
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14ISM 101 Gabriel Hugh Elkaim
OdometryOdometry
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15ISM 101 Gabriel Hugh Elkaim
GPS – Global Positioning SystemGPS – Global Positioning System
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16ISM 101 Gabriel Hugh Elkaim
InertialsInertials
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17ISM 101 Gabriel Hugh Elkaim
AttitudeAttitude
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18ISM 101 Gabriel Hugh Elkaim
Control Issues
• Get the device to do what it is commandedGet the device to do what it is commanded• Open Loop ControlOpen Loop Control• Feedback ControlFeedback Control
– Must have a sensorMust have a sensor– Increases Disturbance RejectionIncreases Disturbance Rejection– Decreases Sensitivity to parameter variationDecreases Sensitivity to parameter variation
• Entire specialty of engineeringEntire specialty of engineering
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19ISM 101 Gabriel Hugh Elkaim
Examples of Control SystemsExamples of Control Systems
• Toilet BowlToilet Bowl• Cruise ControlCruise Control• Thermostat on HouseThermostat on House• Missile Guidance SystemMissile Guidance System• Mobile Robot Obstacle AvoidanceMobile Robot Obstacle Avoidance• Many, many moreMany, many more
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20ISM 101 Gabriel Hugh Elkaim
Cruise Control in DetailCruise Control in Detail
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21ISM 101 Gabriel Hugh Elkaim
Cruise Control – Open LoopCruise Control – Open Loop
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22ISM 101 Gabriel Hugh Elkaim
Cruise Control – Closed LoopCruise Control – Closed Loop
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23ISM 101 Gabriel Hugh Elkaim
Generic Control System Block DiagramGeneric Control System Block Diagram
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24ISM 101 Gabriel Hugh Elkaim
Sensor IssuesSensor Issues
• Dynamic RangeDynamic Range• LinearityLinearity• HysteresisHysteresis• QuantizationQuantization• Temperature EffectsTemperature Effects• BandwidthBandwidth
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25ISM 101 Gabriel Hugh Elkaim
Sensors – LinearitySensors – Linearity
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26ISM 101 Gabriel Hugh Elkaim
Sensors – Dynamic RangeSensors – Dynamic Range
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27ISM 101 Gabriel Hugh Elkaim
Sensors – HysteresisSensors – Hysteresis
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28ISM 101 Gabriel Hugh Elkaim
Sensors – QuantizationSensors – Quantization
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29ISM 101 Gabriel Hugh Elkaim
Sensors – Temperature EffectsSensors – Temperature Effects
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30ISM 101 Gabriel Hugh Elkaim
Sensors – BandwidthSensors – Bandwidth
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31ISM 101 Gabriel Hugh Elkaim
Actuator IssuesActuator Issues
• Power / StrengthPower / Strength• LinearityLinearity• HysteresisHysteresis• QuantizationQuantization• Temperature EffectsTemperature Effects• BandwidthBandwidth
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32ISM 101 Gabriel Hugh Elkaim
Control System – PIDControl System – PID • ProportionalProportional• IntegralIntegral• DerivativeDerivative
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33ISM 101 Gabriel Hugh Elkaim
Control System – Motor DriveControl System – Motor Drive
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34ISM 101 Gabriel Hugh Elkaim
Control System – Motor DriveControl System – Motor Drive
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35ISM 101 Gabriel Hugh Elkaim
Control System – Voice CoilControl System – Voice Coil
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36ISM 101 Gabriel Hugh Elkaim
Control System – Voice CoilControl System – Voice Coil
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37ISM 101 Gabriel Hugh Elkaim
Control System – HeaterControl System – Heater
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38ISM 101 Gabriel Hugh Elkaim
Control System – HeaterControl System – Heater
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39ISM 101 Gabriel Hugh Elkaim
Control System – Motor Drive w/PControl System – Motor Drive w/P
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40ISM 101 Gabriel Hugh Elkaim
Control System – Voice Coil w/PControl System – Voice Coil w/P
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41ISM 101 Gabriel Hugh Elkaim
Control System – Heater w/PControl System – Heater w/P
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42ISM 101 Gabriel Hugh Elkaim
Control System – Motor Drive w/IControl System – Motor Drive w/I
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43ISM 101 Gabriel Hugh Elkaim
Control System – Heater w/IControl System – Heater w/I
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44ISM 101 Gabriel Hugh Elkaim
Control System – Motor Drive w/PIControl System – Motor Drive w/PI
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45ISM 101 Gabriel Hugh Elkaim
Control System – Heater w/PIControl System – Heater w/PI
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46ISM 101 Gabriel Hugh Elkaim
Integrator Windup – Motor Drive w/PIIntegrator Windup – Motor Drive w/PI
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47ISM 101 Gabriel Hugh Elkaim
Integrator Limit – Motor Drive w/PIIntegrator Limit – Motor Drive w/PI
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48ISM 101 Gabriel Hugh Elkaim
Control System – Voice Coil w/PDControl System – Voice Coil w/PD
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49ISM 101 Gabriel Hugh Elkaim
Control System – Heater w/PIDControl System – Heater w/PID
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50ISM 101 Gabriel Hugh Elkaim
PID ControllersPID Controllers
• Proportional gain increases response speed, Proportional gain increases response speed, to much gain causes system to ring.to much gain causes system to ring.
• Integral gain kills steady-state error, wind-Integral gain kills steady-state error, wind-up and/or too much gain can cause system up and/or too much gain can cause system to go unstable.to go unstable.
• Derivative gain adds damping and stability, Derivative gain adds damping and stability, but is sensitive to jitter and noise.but is sensitive to jitter and noise.
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51ISM 101 Gabriel Hugh Elkaim
Tuning PID ControllersTuning PID Controllers
• Don’t need to understand Controls or Don’t need to understand Controls or System to use PID.System to use PID.
• Start with pure Derivative control.Start with pure Derivative control.• Increase gain until system oscillates or you Increase gain until system oscillates or you
see over 50% overshoot.see over 50% overshoot.• Go up to verge of ringing, back off by a Go up to verge of ringing, back off by a
factor of 2 or 4.factor of 2 or 4.
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52ISM 101 Gabriel Hugh Elkaim
Tuning PID ControllersTuning PID Controllers
• Start with Proportional gain, increase by Start with Proportional gain, increase by factor of 8 to 10 until oscillation.factor of 8 to 10 until oscillation.
• If it is already oscillating, decrease by factor If it is already oscillating, decrease by factor of 8 to 10.of 8 to 10.
• From verge of oscillation, back off by From verge of oscillation, back off by factor of 2 to 4.factor of 2 to 4.
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53ISM 101 Gabriel Hugh Elkaim
Tuning PID ControllersTuning PID Controllers
• Start with Integral gain very small, 0.0001 Start with Integral gain very small, 0.0001 to 0.01.to 0.01.
• Increase until you get response you like.Increase until you get response you like.• Be sure to implement anti-windup.Be sure to implement anti-windup.• If you have problems, play with sample If you have problems, play with sample
rate.rate.
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54ISM 101 Gabriel Hugh Elkaim
A 3-Wheeled VehicleA 3-Wheeled Vehicle
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55ISM 101 Gabriel Hugh Elkaim
A 3-Wheeled VehicleA 3-Wheeled Vehicle
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56ISM 101 Gabriel Hugh Elkaim
A 3-Wheeled VehicleA 3-Wheeled Vehicle
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57ISM 101 Gabriel Hugh Elkaim
A 3-Wheeled VehicleA 3-Wheeled Vehicle
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58ISM 101 Gabriel Hugh Elkaim
A 3-Wheeled VehicleA 3-Wheeled Vehicle