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RiSE State-Based Voltage Control

RiSE State-Based Voltage Control. Salomon Trujillo, July 13, 2007. Video. Joint Speed Comparison. Measured Voltage Comparison. DC Motor Model. τ. V = K τ τ + K ω ω I = K I τ. High current draw. Stall Torque  V motor. Constant slope. No current draw. ω. Area = Power. No-Load

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RiSE State-Based Voltage Control

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  1. RiSE State-BasedVoltage Control Salomon Trujillo, July 13, 2007

  2. Video

  3. Joint Speed Comparison

  4. Measured Voltage Comparison

  5. DC Motor Model τ V = Kττ + Kωω I = KIτ High current draw Stall Torque  Vmotor Constant slope No current draw ω Area = Power No-Load Speed  Vmotor

  6. ω kp u - f + kd uω - Kf f V + Kω ω PD & Force Control Diagrams

  7. Voltage Control of Motors Wing Voltage Motor B Voltage Motor A Voltage Crank Voltage

  8. Gait State Machine Wing Voltage Pull Down Front Release Front Flight Front Strike Crank Voltage Back Release Back Flight Back Strike Front Legs Pull Down Back Legs

  9. Yaw Bang-Bang Control u Yaw detected using IMU 

  10. Flight-Brake Control v Constant velocity approach Braking Curve x Target State

  11. Pitch Correction Pitch detected using IMU and wing angles Normal Attachment Pitch Correction Attachment

  12. Future Work • Produce a hybrid control that combines trajectory and state-based controllers. • Build a framework that uses robot dynamics to calculate desired voltages. • Experiment with voltage commands at transitions (input shaping?) • Work on release and strike states to provide smoother attachment & detachment and prevent non-gravity deceleration.

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