[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

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.


On Fri, 20 Jun 2003, Marc Lavallée wrote:

> Hash: SHA1
> 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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