Path following control robot kinematics and dynamics

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SUMMARY

The discussion centers on the optimal controller for a mobile robot's path following, specifically a 4-bar linkage mechanism gliding on parallel rails. The user successfully employs a Proportional (P) controller for kinematics but encounters issues when integrating dynamics with a Proportional-Derivative (PD) controller. The conversation highlights that while most control loops utilize P or Proportional-Integral (PI) controllers, the effectiveness of the controller depends significantly on the selection of the controller output destination and feedback mechanisms.

PREREQUISITES
  • Understanding of mobile robot kinematics and dynamics
  • Familiarity with control theory, specifically Proportional (P), Proportional-Integral (PI), and Proportional-Derivative (PD) controllers
  • Knowledge of feedback control systems
  • Experience with robotic mechanisms, particularly 4-bar linkages
NEXT STEPS
  • Research advanced control strategies for mobile robots, focusing on feedback selection
  • Study the implementation of Proportional-Integral-Derivative (PID) controllers in robotic applications
  • Explore the dynamics of robotic systems and their impact on control performance
  • Investigate the design and tuning of controllers for path following in robotics
USEFUL FOR

Robotics engineers, control system designers, and researchers focused on mobile robot navigation and path following techniques.

theBlue
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Hello,

I have a general question regarding what is the best controller (PI, PD, etc.) to control the position of a mobile robot in order to follow a known path.

The mobile robot at hand is a mechanism (a 4 bar linkage with its two base gliding on two parallel but not straight rails) and I want the end effector to follow the center-line between the two rails.

I have a path following controller working perfectly with the kinematics using just a P controller.

The problem occurs when I introduce the Dynamics. The Dynamics controller I am using is a PD.

I am controlling the Dynamics based on the kinematics path following control.

I do not know if this kind of control has a name ?

Thank you for your answer.
 
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Most control loops work with just P or PI. PID is seldom needed. PD sounds like a mistake to me. I can't believe that PD is appropriate.

Most critical is not the controller itself. Most critical is selecting where the controller output goes, and what the feedback is.
 

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