Abstract
Currently robotic motion control algorithms are tedious at best to implement, are lacking in automatic situational adaptability, and tend to be static in nature. Humanoid (human-like) control is little more than a dream, for all, but the fastest computers. The main idea of the work presented in this paper is to define a radically new, simple, and computationally lightweight approach to humanoid motion control. A new Proportional-Integral-Derivative (PID) controller algorithm called PID++ is proposed in this work that uses minor adjustments with basic arithmetic, based on the real-time encoder position input, to achieve a stable, precise, controlled, dynamic, adaptive control system, for linear motion control, in any direction regardless of load. With no PID coefficients initially specified, the proposed PID++ algorithm dynamically adjusts and updates the PID coefficients , and periodically. No database of values is required to be stored as only the current and previous values of the sensed position with an accurate time base are used in the computations and overwritten in each read interval, eliminating the need of deploying much memory for storing and using vectors or matrices. Complete in its implementation, and truly dynamic and adaptive by design, engineers will be able to use this algorithm in commercial, industrial, biomedical, and space applications alike. With characteristics that are unmistakably human, motion control can be feasibly implemented on even the smallest microcontrollers (MCU) using a single command and without the need of reprogramming or reconfiguration.
Highlights
This article proposes to overcome the existing hurdles of motion control systems tailored for specific applications to exhibit a rather generalized computationally lightweight humanoid motion control behavior
A new PID controller algorithm called PID++ is proposed in this work that uses minor adjustments with basic arithmetic, based on the real-time encoder position input, to achieve a stable, precise, controlled, dynamic, adaptive control system, for linear motion control, in any direction regardless of load
Graphical Responses The Distance Traveled (Encoder Position in cnts), Output of the PID++ algorithm applied to the motor, and the Speed of the motion in each test scenario, are graphically shown in each horizontal 3-plot Figure of Section 5.1
Summary
Motion control can be found in many aspects of every-day life, including items purchased at stores, as well as systems used in industry, medicine and space. Some of the applications, such as printers and fax machines, travel gracefully from place to place, but their motion is static. Humans are not burdened by a requirement to move only one particular object all of the time. Motion control on a low-end computing device, with an algorithm such as the Proportional-Integral-Derivative (PID), will allow the controlled motion of only one particular object at a time. To move another object, perhaps heavier or lighter, with the same algorithm, would more than likely require at least the reprogramming of the PID coefficients (Kp, Ki, Kd), and the like. On the fly adaptability are hallmarks of human motion control. A printer carriage is an example of this Type 1 motion
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