3 ms·
I think the bigger problem is in sensor precision, particularly those sensors responsible for reporting what state the arm in (i.e. so the computers onboard can
by nexuist 8y ago
I think the bigger problem is in sensor precision, particularly those sensors responsible for reporting what state the arm in (i.e. so the computers onboard can calculate the position of the arm relative to the object it needs to pick up). Sensors with low tolerances are extremely expensive and those particular robot manufacturers may have opted for less accurate sensors to save on costs. They may work perfectly fine for moving things like doors and frames; but the differences make themselves known as soon as you try to interact with bolts and etc.
When I did robotics we had a perfectly capable Linux box running PID loops several hundred times a second; but our robot still sucked b/c our on board motion sensors were simply not precise enough to give us accurate data to feed the algorithms. As usual, it's all about the data.
- jbay808 8y agoDid you remember to low-pass filter the derivative gain? Properly accounting for sensor noise is just as important as getting low-noise sensors.
- metaphor 8y agoForgive me for perhaps being naively optimistic, but I'd probably give industrial robot design engineers applying optimal control methods to solve performance robustness issues the benefit of the doubt that their error budget would properly account for and derate any critical sensor.
- 2YwaZHXV 8y agoAs someone who works with modern industrial robots, like you'd find in a car factory, the sensors they're using for the arm positioning are unbelievably precise. I can have the robot stopped, with the brakes on, and push on the end of the arm with my fingers and see the joints registering the deviation (and not by 1 or 2 counts, but many more), while I don't perceive any significant movement of the robot.