Subject:
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Re: Angle Sensor
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Newsgroups:
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lugnet.robotics
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Date:
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Sun, 28 Mar 1999 18:11:54 GMT
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Original-From:
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Michel Verhagen <mive@xs4all.nlSPAMLESS>
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Viewed:
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1125 times
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Your missing one very important fact here:
With the equations you gave, the pole can't be a variable size, can it?
Anyway, of course all problems solved with fuzzy logic can be solved using
"normal" equations, but I'm a student and I'm now following a course on
Fuzzy Logic. The points for this course can be acquired by an exam or a home
made project, uhm tough choise when you have the Mindstorms kit....
I will try both solutions, Fuzzy and Clear, let's see if it works, just for
fun cause that's what mindstorms is for, ain't it ?
Greetz,
Michel
-----Oorspronkelijk bericht-----
Van: S. Crawshaw <sc10003@eng.cam.ac.uk>
Aan: lego-robotics@crynwr.com <lego-robotics@crynwr.com>
Datum: zondag 28 maart 1999 17:19
Onderwerp: Re: Angle Sensor
> On Sat, 27 Mar 1999, Michel Verhagen wrote:
>
> > Well, then I guess I need to build my own rotation sensor using a • "Potmeter"
> > (variable resistor) because I need a real angle, actually I need an angle
> > per time value. Is this is possible?
>
> So long as your software remembers to count the revolutions, it's surely
> very simple to gear the Lego sensor to get a real angle... however for
> your idea below, you might need much too much gearing!
>
> > Did someone ever tried to balance a long broom on his hand or finger? I'm
> > creating a car that does just that using fuzzy logic...
>
> You shouldn't need fuzzy logic to do this; it's a fairly well-known
> control problem - easily controllable like this:
>
> motor input = k1 * angle + k2 * rate of angle
> + k3 * car position + k4 * car speed
>
> where you need to find k1, k2, k3, k4 (which will depend on your setup)
>
> This will allow you to keep the broom balanced, plus make the car stay
> (roughly) in a chosen place (give or take the motion necessary to keep
> the broom balanced)
>
> I was going to try this, but haven't got an angle sensor yet...
>
> ===============================================================
> Stuart Crawshaw
> Control Group
> Engineering Dept
> Cambridge University
>
>
> --
> Did you check the web site first?: http://www.crynwr.com/lego-robotics
--
Did you check the web site first?: http://www.crynwr.com/lego-robotics
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