Robotics 1
On/Off vs Linear Control
Quiz
Question 2:  What do we call it when the joint goes past its target point, and then comes back?
Question 3:  What do we call it when the joint keeps oscillating around its target position indefinitely?
Question 4:  If I want to improve the stability of on/off control, what could I do?
Question 5:  'Linear Control' is called that because the ________ is linearly dependent upon the ________.
Question 6:  When we are implementing proportional control for our slider, which equation are we using?
Question 7:  What is one way to determine the value of Kp?
Question 8:  What do you expect to happen with stability as Kp becomes larger?
Question 9:  What do you expect to happen with response speed as Kp becomes larger?
Question 10:  What do you expect to happen with positioning accuracy as Kp becomes larger?
Question 11:  Suppose I am sending a byte using UART and I see the voltage over time as shown here.  Also, suppose I have set one start bit and one stop bit in my communication.  What is the digital value being sent? Your answer should be a number without a decimal.
Question 12:  For question 11, suppose that the baud rate is set to 9600.  What is the value of the time X, in units of milliseconds?  Don't enter units, just type a number.  Round to 6 places after the decimal.
Question 13:  Given Questions 11 and 12, how long would it take, in milliseconds, to send a complete 8-bit byte, given that there is 1 stop bit and 1 start bit?  Round to 6 places after the decimal, and don't enter units.
Question 14:  What is meant by the 'rise time' of a time response?
Question 15:  What is a 'critically-damped' system?
Question 1: Which of these is NOT one of the goals of motion control?
High speed
High force
Good stability
High accuracy
Ramp response
Overshoot
Settling time
Inaccuracy
Instability
Inaccuracy
Over tuning
I could increase the speed, or increase the accuracy
I could give up some speed, or increase the accuracy
I could give up some speed, or give up some accuracy
I could increase the speed, or give up some accuracy
control signal, error in the output
joint speed, joint position
input signal, joint speed
input signal, error in the output
speed = Kp / Error
speed = Kp + Error
speed = Kp * Error
speed = Kp - Error
Kp is a property of our motor
We look up the value in a database
We 'tune' the controller by trying values of Kp and observing the results
Kp is a constant value; it is a physical property inherent in nature, like the gravitational constant
As Kp becomes larger, the motion should become more stable
As Kp becomes larger, the motion should become less stable
As Kp becomes larger, the stability will not change
It is impossible to predict what will happen to the stability as Kp becomes larger
Nonlinearity
As Kp becomes larger, the response speed should become slower
As Kp becomes larger, the response speed will not change
As Kp becomes larger, the response speed should become faster
It is impossible to predict what will happen to the response speed as Kp becomes larger
As Kp becomes larger, the positioning accuracy will not change
As Kp becomes larger, the positioning should become more accurate
As Kp becomes larger, the positioning should become less accurate
It is impossible to predict what will happen to the positioning accuracy as Kp becomes larger
The amount of time between the start of the response and the first crossing of the target value
The amount of time between the start of the response and the first peak
The amount of time between the start of the response and the last peak
The amount of time between the start of the response and the last crossing of the target value
A critically-damped system is one that is as fast as it can be, given that there is no overshoot.
A critically-damped system is one that maximizes speed and accuracy at the expense of stability.
A critically-damped system is any system that exhibits no oscillations.
A critically-damped system is one that has as few oscillations as is acceptable in a particular application.