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Robotics

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  • $\begingroup$ Ok, good answer. I think one big mistake I'm doing is using position controllers instead of speed controllers. And as you suggest, I don't want to turn off gravity to keep as real as possible the behavior of the robot. It seems that position controllers don't handle well gravity (do you confirm ?). $\endgroup$ Commented Mar 27, 2016 at 20:38
  • $\begingroup$ I get your point on engineering and specifications. My point is that if I could use "over strong" actuators, I should be able to discards some of these specification, at least give them some flexibility. And as I said, I just need the actuators to be accurate, whatever speed response they have and power supply they need. $\endgroup$ Commented Mar 27, 2016 at 20:39
  • $\begingroup$ Knowing all this, I'm wondering if there is an approach dealing with robustness for actuator/control systems. I understand that this doesn't fit with the industrial needs, but do you think some people already worked on how to increase the adaptivity of an actuation system ? $\endgroup$ Commented Mar 27, 2016 at 20:42
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    $\begingroup$ @debzsud - You say robust, but typically I believe "robust" means not sensitive, in the controls meaning of sensitivity - small, unaccounted-for changes in plant parameters don't produce large variations in controller functionality. If you want one controller to work just as well under a large load as under a small one, then your later terminology is 100% correct: you're looking for an "adaptive controller." Be forewarned, though; adaptive controls is a very advanced topic. $\endgroup$ Commented Mar 28, 2016 at 0:45
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    $\begingroup$ Position controls, speed controls, they all should work fine in gravitational fields when tuned correctly. The trouble you'll get into is expecting a fully loaded arm to perform the same as an unloaded arm. In that case, you should design for whatever performance you want in the fully loaded scenario and then rate limit or otherwise clamp your input such that you achieve consistent response for all conditions. $\endgroup$ Commented Mar 28, 2016 at 0:49