 | | Re: moving in a straight line with two motors? —Daniel Miller
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| | | (...) 1) You've been playing too much Carmageddon. 2) Control theory is relatively new (it paces the development of computers). There are quite a few good textbooks available, but a professor is a much greater help. Familiarity with calculus and (...) (26 years ago, 14-Nov-98, to lugnet.robotics)
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| | | | | Re: moving in a straight line with two motors? —Patrick Gili
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| | | | | Daniel Miller wrote in message ... (...) What? (...) This is all fine and well, but I was thinking about something a little less complex. The RCX doesn't have the power to perform image processing and sophisticated feedback control. What I was (...) (26 years ago, 14-Nov-98, to lugnet.robotics)
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| | | | | | | Re: moving in a straight line with two motors? —Daniel Miller
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| | | | | | (...) Image processing? Proportional control pushes back proportional to deflection (i.e. it simulates a spring). Derivative control pushes back proportional to rate of deflection (i.e. it simulates dynamic friction). Integral control pushes back (...) (26 years ago, 14-Nov-98, to lugnet.robotics)
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| | | | | Re: moving in a straight line with two motors? —Scott Furman
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| | | | | (...) Believe it or not, I've been working on exactly this problem for the last few days. I built an angle sensor using a 500K potentiometer wired directly to an RCX input port. (Lego's angle sensor doesn't have sufficient angular resolution unless (...) (26 years ago, 14-Nov-98, to lugnet.robotics)
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| | | | | | | Re: moving in a straight line with two motors? —Ben Laurie
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| | | | | | | (...) I think making the pendulum longer should cure this... (...) Possibly making it heavier will cure this... Cheers, Ben. (26 years ago, 14-Nov-98, to lugnet.robotics)
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| | | | | | | Re: moving in a straight line with two motors? —Daniel Miller
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| | | | | | (...) Perhaps you're asking too much of them. Try toning down the pendulum; that is, give it some length below the hinge point as well. As long as it's still top-heavy you're still technically an inverted pendulum, and the added mass below the pivot (...) (26 years ago, 14-Nov-98, to lugnet.robotics)
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| | | | | Re: moving in a straight line with two motors? —Eric Brok
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| | | | What about a gyrocompass in a mobile robot? May work for orientation but eats batteries. Eric Brok Visit LEGO ON MY MIND: (URL) Control section: (URL) section: (URL) (26 years ago, 16-Nov-98, to lugnet.robotics)
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