Title: Robotics. Lesson 4; Robotic Control Systems and Feedback Mechanisms

Title: Robotics. Lesson 4; Robotic Control Systems and Feedback Mechanisms

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1. PID controllers adjust robotic movements using proportional, integral, and derivative terms.

2. Feedforward control predicts system output for quicker response times.

3. Feedback loops correct robotic actions based on sensor data deviations.

4. Open-loop systems execute commands without feedback, risking positional errors.

5. Closed-loop systems continuously adjust output using real-time sensor feedback.

6. Motion planning algorithms optimize trajectories within a robot's physical constraints.

7. Kalman filters smooth noisy sensor data for accurate robot control.

8. State-space models represent robotic systems for advanced control strategies.

9. Adaptive control systems adjust parameters for changing environmental conditions.

10. Model predictive control anticipates future states to optimize control actions.

11. Bang-bang control switches between two states for rapid response needs.

12. Deadband filters ignore minor signal deviations, reducing unnecessary adjustments.

13. Observer models estimate unmeasurable states within robotic control systems.

14. Robust control withstands uncertainties in model parameters and disturbances.

15. Optimal control minimizes control efforts while achieving desired robot behavior.

16. Sliding mode control reduces error through high-frequency switching actions.

17. Linear Quadratic Regulators (LQR) optimize control gains for minimal cost.

18. H-infinity control minimizes worst-case error in uncertain systems.

19. Discrete control systems process signals at regular time intervals.

20. Frequency response analysis examines system behavior at different input frequencies.

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Technical Examples

1. PID Control Example: Maintaining stable position for robotic arm through precise feedback.

2. Kalman Filtering Example: Filtering out noise in robotic sensor data for smoother motion.

3. Feedforward Control Example: Anticipating robotic joint positions for smoother motion execution.