[PD] PID loops/controlling robots with PD
Hans-Christoph Steiner
hans at eds.org
Mon Jun 23 06:15:56 CEST 2003
PID stands for Proportional, Integral, Derivative. Its a standard method
of controlling servos and robotics. (http://www.expertune.com/tutor.html)
For the robotic tree we just did, there were 10 pneumatic cylinders for
the arms and 80 switches to control drippers. The cylinders had built-in
position sensors. I believe the A-to-D was 12-bit, but it may have been
16-bit.
I found one that looks good, http://mat.sf.net but I was wondering whether
it would be feasible to do this within Pd entirely.
.hc
On Fri, 20 Jun 2003, Marc Lavallée wrote:
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> Le 20 Juin 2003 12:46, Hans-Christoph Steiner a écrit :
>
> > So this got me thinking. The ShowFlow/HRBox software is expensive and
> > we are basically only using the PID loop control features of it, so if
> > I could do this in Pd, as well as the data aquisition, then I could run
> > the whole robot using Pd alone. So I am wondering whether anyone else
> > has tried using Pd to control robots?
>
> Please describe that "PID loop" feature and the data aquisition
> requirements (number of inputs, resolution, etc). There's probably dozens
> of possible alternatives to the HRBox.
>
> - --
> Marc
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