Feedback Control Robot Arm Position Control Using a Joystick CDI 2000 IRVING LIIMATTA JOE JOHNSON
Feedback Control Control Diagram Example:  Robot Arm Position Control Using a Joystick Control:  Joystick Byte Value:  0 P...
Robot:  Arm Arm Full Down (254) Arm Mid Point (127) Arm Full Back (0) Note: Values in ( ) represent the pot values.  Outpu...
Control:  Joystick Byte Value:  0 Physical:  Arm Full Back Byte Value:  254 Physical:  Arm Full Down Feedback Control Cont...
Feedback Control Block Diagram Example:  Robot Arm Position Control Using a Joystick - + System Output Motor System Input ...
armJoystick  VAR  BYTE ‘Joystick position value armPot   VAR  BYTE ‘Pot value that states the actual position of the arm a...
Upcoming SlideShare
Loading in …5
×

Motor control

1,198 views

Published on

Motor control

Published in: Automotive
0 Comments
1 Like
Statistics
Notes
  • Be the first to comment

No Downloads
Views
Total views
1,198
On SlideShare
0
From Embeds
0
Number of Embeds
19
Actions
Shares
0
Downloads
37
Comments
0
Likes
1
Embeds 0
No embeds

No notes for slide

Motor control

  1. 1. Feedback Control Robot Arm Position Control Using a Joystick CDI 2000 IRVING LIIMATTA JOE JOHNSON
  2. 2. Feedback Control Control Diagram Example: Robot Arm Position Control Using a Joystick Control: Joystick Byte Value: 0 Physical: Arm Full Back Byte Value: 254 Physical: Arm Full Down Byte Value: 127 Phyical: Arm Mid Point
  3. 3. Robot: Arm Arm Full Down (254) Arm Mid Point (127) Arm Full Back (0) Note: Values in ( ) represent the pot values. Output of 254 to Victor drives arm CCW Output of 0 to Victor drives arm CW Front of Robot Feedback Control Robot Diagram Example: Robot Arm Position Control Using a Joystick
  4. 4. Control: Joystick Byte Value: 0 Physical: Arm Full Back Byte Value: 254 Physical: Arm Full Down Feedback Control Control and Robot Diagrams Example: Robot Arm Position Control Using a Joystick Byte Value: 127 Phyical: Arm Mid Point Robot: Arm Arm Full Down (254) Arm Mid Point (127) Arm Full Back (0) Note: Values in ( ) represent the pot values. Output of 254 to Victor drives arm CCW Output of 0 to Victor drives arm CW Front of Robot
  5. 5. Feedback Control Block Diagram Example: Robot Arm Position Control Using a Joystick - + System Output Motor System Input Sensor Error Compensator
  6. 6. armJoystick VAR BYTE ‘Joystick position value armPot VAR BYTE ‘Pot value that states the actual position of the arm arm VAR BYTE ‘Output value to Victor ARM_GAIN CON 2 . <Read Joystick Value> <Read Pot Value> ArmFeedBackControl: if (armJoystick > armPot) then ArmDown arm = 127 - (((armPot - armJoystick) * ARM_GAIN) MAX 127) goto EndArmFeedBackControl ArmDown: arm = 127 + (((armJoystick - armPot) * ARM_GAIN) MAX 127) EndArmFeedBackControl: . <Output to Victor> Feedback Control PBasic Code Example: Robot Arm Position Control Using a Joystick

×