This quote hits close to home. “So I got the arm to match the conveyor speed by monitoring the position and pre-empting the motion command, alternating ‘slow’ and ‘fast’ at 10Hz with a duty cycle depending on how we are tracking our target. The motion is pretty jerky but it works.”
I’ve been through exactly this scenario in two very popular robotics frameworks.
Countless hours were spent by well intentioned framework developers to abstract away the underlying PID loop from the end users. Then countless more hours were spent by the end users to work around this by implementing a PID loop on top of the abstraction.
I’ve been through exactly this scenario in two very popular robotics frameworks.
Countless hours were spent by well intentioned framework developers to abstract away the underlying PID loop from the end users. Then countless more hours were spent by the end users to work around this by implementing a PID loop on top of the abstraction.