CS 547: Sensing and Planning in Robotics

09/09/1999


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Table of Contents

CS 547: Sensing and Planning in Robotics

What is Dynamics ?

Dynamics and Inverse Dynamics

Why Study Dynamics ?

Why we don’t study only dynamics

Control Architectures

Terms

Terms

Problems with physical systems

Inverse Kinematics

Inverse Dynamics

PPT Slide

Kinematics

Dynamics

Dynamics of a Mobile Robot

Summary

Low-level Control of a Wheeled Robot

Single Axis Wheel Control (Steer)

Single Axis Wheel Control

The Formal Control Problem

Try a constant torque

Doesn’t work

Result of using constant torque

Try a proportional technique

Proportional technique

Damping and PD Control

Results

Critical Damping

Why does it work ?

A Simple Second-Order Model

Solving the beast

Real and Unequal Roots

Complex Roots

Real and Equal Roots

What does a controller do ?

Example

Analysis contd.

Next Class

 Author: Gaurav S. Sukhatme

Email: gaurav@robotics.usc.edu

Home Page: http://www-robotics.usc.edu/~gaurav