Computer Science 444: Embedded / Robotic Programming

Unit 5: Robotic Control 1 – Feedback and Architectures

Actuators, affectors, and Sensors are all critical components of a functional robot, but we need a way to bring it all together and control the robot. In this unit you will begin to examine robotic control mechanisms.

Learning Objectives

After completing this unit, you should be able to

  • describe various robotic control mechanisms, including feedback control.
  • discuss the use of error in feedback control
  • discuss and differentiate between types of feedback control including proportional control, derivative control, integral control, and combinations of these control mechanisms.
  • describe the building blocks of robotic control, including control architectures.
  • list several languages for programming robots.
  • discuss the creation of a robot that uses feedback control.
  • employ the Arduino and the SparkFun Inventor’s Kit to create circuits which demonstrate the use of feedback control.

Readings

Please read the following chapters in the textbook:

  • Stay in Control (Chapter 10)
  • The Building Blocks of Control (Chapter 11)

Questions to Ponder

At the end of each chapter in the assigned readings there are questions labelled “Food for Thought.” Please answer these questions as best you can in your weblog, which will become part of your portfolio of competence submitted for marking during this course.

Exercises

Exercises for this unit can be found in the Instructor’s Weblog on the Landing. Please follow along with the exercises and programs using your own Arduino kit, and keep a record of your explorations in your own weblog.

Further Readings

At the end of each chapter in the assigned readings you will find a section titled “Looking for More.” While the links and readings mentioned in this section are not assigned, please feel free to examine them if you are interested, or ask questions on the Landing.

Assignment 3

It is time to submit your weblog for Assignment 3.

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