#robotics Logs

Dec 17 2020

04:59 AM DnzAtWrk: in Robotstudio, robot axis configurations are in 90 degree quadrants which are usually aligned to the x,y world axis
05:06 AM DnzAtWrk: I don't understand how this is reasonable, as it would make more sense to have a 90 degree quadrant centered along an axis
05:06 AM DnzAtWrk: as it is very likely that the robot would cross through the center line during work, which would move between two different configurations
05:06 AM DnzAtWrk: this is regarding axis 1
05:06 AM DnzAtWrk: the same issue regards axis 4, which can spin 1 degree to left or right and enter two different configurations
05:13 AM DnzAtWrk: not when quadrants are defined at -90-0, 0-90
05:13 AM DnzAtWrk: robot configurations are a way to make safe moments and locking the robot into a certain shape
05:14 AM DnzAtWrk: but how can I do that if I pass between quadrants
05:14 AM DnzAtWrk: you have the option of disabling configuration checking, which allows the robot to just take the closest rotation to a new position
05:15 AM DnzAtWrk: which also allows the robot to potentially take unwanted shapes
05:16 AM DnzAtWrk: movements*
05:19 AM DnzAtWrk: it is quite difficult to imagine all the different ways a robot may end up twisting the wrong way if allowed to do so
05:29 AM DnzAtWrk: it doesn't even seem to be checked even when enabled. I'm so confused
05:41 AM Phrkd is now known as Phreaked
06:40 AM mrdata: DnzAtWrk, mapping between world axis and robot-centric co-ordinates is a ubiquitous problem
06:43 AM mrdata: you have a favourite way of thinking about your relation to the world; storage and transmission of geographic information, and discussion of it, uses a possibly different view
06:43 AM mrdata: the different views are convenient or awkward in different contexts, so data must be mapped
06:46 AM mrdata: that said, i am unfamiliar with Robotstudio
06:49 AM mrdata: there will be errors in orientation and position as you move through the world, and you have to cope with those
06:50 AM mrdata: as well as other actors moving through it
06:52 AM mrdata: some obstacles are temporary; some fixed; some moveable. and sensors pick up way too much information, none of which can be trusted
06:54 AM mrdata: traversing a busy intersection in a city may be as harrowing an experience as bushwhacking in the forest
09:31 AM Malvolio is now known as ELIZB
09:31 AM ELIZB is now known as MLVLVS
11:53 AM veverak: fuckin smart servo
11:53 AM veverak: "velocity control" is just pwming
11:55 AM veverak: remind me to run proper experiments with servomotrs next time ;/
03:19 PM veverak: so
03:19 PM veverak: position control is not able to provide max current to the servomotor when the target position is too close
03:19 PM veverak: so, small movement requiring high power is no go
03:19 PM veverak: velocity control has max current limit based on actual velocity (there is at least some regulation)
03:20 PM veverak: I mean, do I really have to insert PID over velocity commands and do custom control loop?