Week 2

-Review of matrix calculus

-Basic robot control
2nd Week, Industrial robots, VTE465

References:
1. Bruno Siciliano, Oussana Khatib, Handbook of Robotics, Springer 2008
2. Robert H. Bishop, Mechatronic Handbook, Mechatronic systems, Sensor, Actuator, and
Data Acquisition, CRC Press, 2008
3. Norberto Pires, Industrial Robots Programming: Building Applications for the Factories of the
Future,2007 Springer Science+Business Media, LLC

Prepared : Neramitr C.

1
Books for learning

2
Content
1 Reviews of matrix calculus 2 Basic robot control
1.1 Matrices
1.2 Sum of two matrices
1.3 Difference of two matrices
1.4 Product of two matrices
1.5 Division of matrices
1.6 Transpose matrix
1.7 Cofactor of an matrix entry
1.8 Co-factor matrix
1.9 Inverse matrix
1.10 Determinants

3
1.1 Matrices

4
1.1 Matrices

5
1.2 Sum of two matrices

6
1.3 Difference of two matrices

7
1.4 Product of two matrices

8
1.5 Division of matrices

9
1.6 Transpose matrix

10
1.7 Co-factor of an entry of a matrix

11
1.8 Co-factor matrix

12
1.9 Inverse matrix

13
1.10 Determinants

14
1.10 Determinants

15
1.10 Determinants

16
1.10 Determinants

17
1.10 Determinants

18
1.10 Determinants

19
 2 Basic robot control
-Robotic control is the system that contributes to the
movement of robots.

-This involves the mechanical aspects and program

systems that makes it possible to control robots.

-In the present day, as technological advancements

progress, the robots and its methods of control continue
to develop and advance.

20
2 Basic robot control

-Robotics could be controlled in various ways, which

includes using manual control, wireless control, semi-
autonomous
-which is a mix of fully automatic and wireless
control), and fully autonomous
-which is when it uses AI to move on its own,
but there could be options to make it manually
controlled

-The most common kind of robot failure is not

mechanical or electronic failure but rather failure of the
software that controls the robot.

21
2 Basic robot control

Basic Control Methods

2.1 Feedback Control (Closed loop control)
2.2 Open-Loop Control
2.3 Feed-Forward Control

22
2.1 Feedback Control
The feedback control, which involves taking measurements
using a sensor and making calculated adjustments to keep
the measured variable within a set range by means of a "final
control element", such as a control valve.

https://www.researchgate.net/publication/3888222_An_ACS_robotic_control_algorithm_with_fa
ult_tolerant_capabilities/figures?lo=1

23
2.1 Feedback Control

https://www.discount2021.net/category?name=robot%20control%20system

24
 2.1 Feedback Control

-Suppose the robot should be

programmed to drive with its left side
near a wall, following the wall edge (see
Figure 1). Several options exist to
accomplish this task:

-One solution is to orient the robot

exactly parallel to the wall, then drive it
straight ahead.
Figure 1 Driving
along a Wall Edge

25
 2.1 Feedback Control

-However, this simple solution has two

problems: if the robot is not initially
oriented properly, it will fail.

-Also, unless the robot were extremely

proficient at driving straight, it will
eventually veer from its path and drive
either into the wall or into the game board.

Figure 1 Driving
along a Wall Edge

26
 2.1 Feedback Control
-Several of the sensors provided in
the ELEC 201 kit can be used to
control the distance between the
robot and the wall.

-For example, two Hall effect sensors

could be mounted to the robot as
shown in Figure 2.

-In this example the wall contains a

magnetic strip (as is sometimes the
case on the ELEC 201 game board). Figure 11.2: Using Two
Hall Effect Sensors to
Follow Wall
27
 2.1 Feedback Control
-The two magnetic sensors are
mounted on the robot as shown.

-Since the A sensor is closer to the

wall, it will trigger first as the robot
moves toward the wall, followed by B
if the robot continues to move
toward the wall.

-As the robot moves away from the

wall, B will release first, followed by A
if the robot continues to move away Figure 11.2: Using Two
from the wall. Hall Effect Sensors to
Follow Wall
28
2.1 Feedback Control
A decision process making use of this information is
depicted in Figure 3.

Figure 3: Control Process With Two Hall Effect Sensors

29
2.1 Feedback Control

Situation with A off and B on is

indicative of some failure of the
sensor or its mounting.
30
2.1 Feedback Control
-Other sensors provided in the ELEC 201 kit can be used to
measure the distance between the robot and the wall (see
Figure 4).
-For example, a magnetic field intensity sensor can be used if
the wall contains a magnetic strip.
-In this case the magnetic field sensor would produce a higher
value as the robot got closer to the wall.

Figure 4 Using a
Proximity
Sensor to
Measure
Distance to a
Wall

31
 2.1 Feedback Control
A light source/photocell pair could also be used.
In this case the light source (shielded from stray light, perhaps
by a cardboard tube) would be aimed at the wall, and the
photocell (also shielded from stray light) would produce a
value proportional to the distance from a reflective wall.

Figure 4 Using a
Proximity
Sensor to
Measure
Distance to a
Wall

32
 2.1 Feedback Control
A "bend" sensor could also be used, although the ELEC 201 kit
does not contain any of these useful sensors.
In this case, the shorter the distance, the more the bend
sensor is bent (see explanation of bend sensors).

Figure 4 Using a
Proximity
Sensor to
Measure
Distance to a
Wall

33
2.2 Open-Loop Control

-A system is defined as the collection of blocks

connected together to execute a process.

-In electronic theory, a system can be said as a group of

interconnected electronic devices, in which each
individual system having its own input – output relation,
to control the other block by connecting its output further
to its next system.

-This is called as “Control system”.

34
 2.2 Open-Loop Control

https://www.electronicshub.org/open-loop-system/

35
 2.2 Open-Loop Control
-Suppose now the robot has been following the wall, and a touch
sensor indicates that it has reached the far edge.
-The robot needs to turn clockwise ninety degrees to continue
following the edge of the wall (see Figure 6).
How should this be accomplished?

Figure 6:
Negotiating a
Corner

36
 2.2 Open-Loop Control
One simple method would be to back up a little and execute a
turn command that was timed to accomplish a ninety degree
rotation. The following code fragment illustrates this idea:

Figure 6:
Negotiating a
Corner

37
 2.2 Open-Loop Control
This method will work reliably only when the robot is very
predictable.
For example, one cannot assume that a turn command of
1.5 seconds will always produce a rotation of 90 degrees.
Many factors affect the performance of a timed turn,
including the battery strength, traction on the surface, and
friction in the geartrain.

Figure 7:
Negotiating a
Corner with
Touch Sensor
Feedback

38
 2.2 Open-Loop Control
This method of using a timed turn is called open-loop
control (as compared to closed-loop control) because there
is no feedback from the commanded action about its effect
on the state of the system. If the command is tuned properly
and the system is very predictable, open-loop commands
can work fine, but generally closed-loop control is necessary
for good performance.

Figure 7:
Negotiating a
Corner with
Touch Sensor
Feedback

39
2.2 Open-Loop Control
How could the corner-negotiation action be made into a
closed-loop system?
One approach is to have the robot make little turns, drive
straight ahead, hit the wall, back up, and repeat (see
Figure 7), dealing with the corner in a series of little steps.

Figure 7:
Negotiating a
Corner with
Touch Sensor
Feedback

40
2.3 Feed-Forward Control
A feed forward, sometimes written feedforward, is an element
or pathway within a control system that passes a controlling
signal from a source in its external environment to a load
elsewhere in its external environment.
This is often a command signal from an external operator.

/5 x5

10 9.2-10.2
Convolution
41
 2.3 Feed-Forward Control
A control system which has only feed-forward behavior
responds to its control signal in a pre-defined way
without responding to how the load reacts; it is in
contrast with a system that also has feedback, which
adjusts the input to take account of how it affects the
load, and how the load itself may vary unpredictably; the
load is considered to belong to the external environment
of the system.

42
2.3 Feed-Forward Control
One approach when using open-loop control is to use feed-
forward control, where the commanded signal is a function of
some parameters measured in advance.

43
Summarized control systems

Open Loop

Feed-forward

Feedback
(Closed Loop)

44
Takes home 1001 solved, pp.442 started 741-744

1.
Answer

2. Answer

3. Answer

Answer
4.

45
Takes home 1001 solved, pp.442 started 746-749

5. Answer

6. Answer

7. Answer

8. Answer

46
Takes home 1001 solved, pp.442 started 750-753

9. Answer

10. Answer

11. Answer

12. Answer

47
Takes home
13. From the Fig.1, explain and give an example.

Fig.1

48
Takes home
14. From the Fig.2, explain and give an example.

Fig.2

49
Takes home
15. From the Fig.3, explain and give an example.

Fig.3

50
References
1. Bruno Siciliano, Oussana Khatib, Handbook of
Robotics, Springer 2008
2. Robert H. Bishop, Mechatronic Handbook,
Mechatronic systems,Sensor, Actuator, and Data
Acquisition, CRC Press, 2008
3. Norberto Pires, Industrial Robots Programming:
Building Applications for the Factories of the
Future,2007 Springer Science+Business Media, LLC

51
Books for learning

52