Position Control

Controlling Joint Position
When controlling joint position with a DC motor, a Proportional plus velocity control law achieves fast, stable response with minimum error.

Error can be minimized by:
– increasing the gain,
– using a pulse-width modulated power amplifier,
– adding some integral to the control law.

Control Architectures
There have been a number of different architectures for navigation and control of AMRs proposed to cope with the named problems of uncertainty and complexity.
There have two main groups of them:
–model-based architectures,
–sensor-based architectures.

They generally differ in the sources of information used for planning and controlling movement of the robot. While the model-based approaches rely on a stored global map, sensor-based ones use continuous local data obtained from sensors.

IntellIgent Control systems
In the past two decades, robotics research has concentrated on development of intelligent navigation and control system enabling effective use of information about the operational space to plan and perform the robot’s operation.

Intelligent Control System Properties:
1) Interact with its environment, Make decision when things go wrong during the work cycle,
2} Communicate with human beings,
3) Make computations.
4) Operate in response to advanced sensors.

Autonomous Robot Control
The basic task of autonomous robot is to navigate from an initial
position to a desired target position. To achieve the goals of autonomy, an intelligent control system must be designed to manage the robot’s operation.

Autonomy of robots can range from remote controlled means, through program controlled ones, to completely autonomous mobile robots. An aim of intelligent control research is to develop autonomous system that can dynamically interact with the real world.