Видео

The joints have hollow shafts and fiber optic cables integrated into them. The angle values are transmitted via infrared diodes and receivers via these fiber optic cables from the outer arms to the central joint on the carriage and from there via cables to a circuit board that converts it into an RS-422 signal that can be evaluated by the dSpace encoder input.

@@controlengineeringgroup-tu6942 that’s awesome. I’m completing a reaction wheel inverted pendulum right now and I’d like to pursue this eventually

my mind goes to medicine

@@1imag337 swinging an a slapping in that liver, in the transplant room with a pendulum robot arm..? 😂

@@MV-vv7sg that's too bad for the patient...

This is just an exercise, but control is used literally everywhere and has been for over a century.

Encoders are pretty ignorant about coordinate frames, so measure the limb lengths and calculate a bit ...

Actually we are commanding the desired velocity at the belt motor which has an underlying velocity controller.

Don't worry I got you... I was in absolute AWE!!! I really did think this kind of physics was impossible... but then I remembered machines..

Each joint comprises a sensor for measuring the angular position.

@@controlengineeringgroup-tu6942 Thanks for your fast answer ! :) Are the sensors wireless ?

@@theometzger7581 No, therefore the cable.

@@controlengineeringgroup-tu6942 okay thanks for your answer 😊

Angles measured for feedback at joints w.r.t. ground frame or in moving frame?

Thats the problem for any engineer. They dont think as USER or a repair man. Thats why every mechanic is like "who designed this nonsense ?" and users are like "Why does it have 1 button to do 10 things ?"

@@tonycstech Why does it have 1 button to do 10 things? because the manager said we can't afford 10 buttons on the budget, and Marketing said it 'wouldn't look elegent enough'. Why is it so hard to repair? because we couldn't fit screws into the budget and had to use plastic clips in the molding. Trust me, having to take apart a product repeatedly for R&D / testing is a pain with clips, I'd love to make every product bullet-proof and made for a 100 year lifespan of being thrown about, but other constraints come in sadly...

It's stupid to say this. Specially for a 3min video just showing end result. Do you really think people capable of doing this didn't think about it?

@@domergan6195 and yet here we are

He presses the emergency stop

It looked like a gloved hand, sans hand.

same!

yess

yes it is proven that inverted multi-pendulum is self-stabilised with just high frequency linear motion - but the frequency goes up very quickly with stages - you need very fast motor just to handle 4 stages, note that one stage here is actually shorter: ruclips.net/video/zoWsFyhRnE8/видео.html

You're useless

you have to see this more as a showcase for the application of control theory because it's a very unstable nonlinear system but that you can model very well. Therefore you can quite easy compare it to your theoretical model and see if your assumtion are correct. Nonetheless the the contol theory behind this "useless project" is actually very useful for example you need quite similar things to land a rocket or many other things.

@@Redafto Exactly, the solution of the problem is insignificant, but the knowledge to solve is very useful.

The method can make a robot blanace itself is useless? What a brainless person

The guy has the lord terry davis as his profile pic, mean while he doesnt understand chaotic theory and how having insanely high precision and highly accurate mechanical components are useful in chaotic systems. basically, this testing apparatus is a perfect demonstration of the precision and accuracy of the electrical components, not to mention its a perfect demonstration of theory (signal processing, simulation/perdition, speed response)

The same sort of control algorithms would be used for accurately backing up a semi truck with multiple trailers.

As the other guy said. The control algorithms are ubiquitous across all tech. You can find PIDs in temp control systems, any kind of pressure control etc. Even espresso machines can have them.

@@AJMansfield1 thank you.

zamknij morde

@@xoskvr Tu byłem. Tony Halik 2021.

@@dracov6664 zamknij ryj

@@xoskvr Tu byłem. Tony Halik 2021.

@@dracov6664 ja bylem w twojej starej, żonie i córce

Weight and friction variables should play a role, base on the little I know about physics.

This setup makes it easier you could theoretically used any length, but you would need to sample inputs infinitely often with infinite precision, make calculations instantaneous and have infinite amount of force that can me applied by motors and in some proportions there would still be ambiguity that would result in inability to transition from one state to other accurately on first attempt. But there is still reasonable range of lengths that can be used and still be within of real world parameters of hardware.

My thoughts exactly!