Robotics 1 Preliminaries Quiz

Question 2: Which of these describes the meaning of a 'signal'?

Question 3: How is the block diagram of feedback control different than that of open-loop control?

Question 4: Which statement about the comparison between open-loop and feedback control is true?

Question 5: One of the characteristics of open-loop control is...

Question 6: The most simple type of feedback control is called...

Question 7: Which of the following is NOT a type of prismatic joint?

Question 8: Which statement about the comparison between open-loop and feedback control is true?

Question 9: Which set of code shows open-loop control being used to control position?

Question 10: Which set of code shows on-off control being used to control position?

Undergraduate/Graduate Questions (both undergraduates AND graduates should answer these questions):

Question 11: When we are trying to achieve 'good' control, we have three goals. Which of these is NOT one of those goals?

Question 12: If I want to stay with on-off control, but I want to improve stability, what could I do?

Question 13: If the action taken in Question 12 doesn't improve the stability enough, what else could I do to improve stability?

Question 14: Which of these describes the meaning of 'linear control'?

Question 15: In proportional control, how do we calculate the speed of the joint?

Question 1: Which of these is true of open-loop control?

Open-loop control is the most accurate type of control

Open-loop control is the only type of position control

The block diagram of feedback control has a 'sensor' block

The block diagram of feedback control has an 'integral' block

The block diagram of feedback control has a 'motor' block

The block diagram of feedback control has an 'input signal' arrow

Open-loop control is less complex, less expensive, and less stable than feedback control.

Open-loop control is less complex, less expensive, and more stable than feedback control.

Open-loop control is less complex, more expensive, and less stable than feedback control.

Open-loop control is less complex, more expensive, and more stable than feedback control.

Feedback control is able to control the position of a prismatic joint, but open-loop control is not.

Open-loop control is able to reject disturbances, but closed-loop control is not.

Feedback control is able to reject disturbances, but open-loop control is not.

Open-loop control is able to control the position of a prismatic joint, but feedback control is not.

PWM_1_WriteCompare1(100);
PWM_1_WriteCompare2(0);
CyDelay(1000);

PWM_1_WriteCompare1(0);
PWM_1_WriteCompare2(0);

Graduate Questions (ONLY graduates need to answer these questions):

Count=QuadDec_1_GetCounter();
if (Count<Target_Count)
{
     PWM_1_WriteCompare1(100);
     PWM_1_WriteCompare2(0);
}
else if (Count>Target_Count)
{
    PWM_1_WriteCompare1(0);
    PWM_1_WriteCompare2(100);
}
else
{
   PWM_1_WriteCompare(0);
   PWM_1_WriteCompare2(0);
}

Count=QuadDec_1_GetCounter();
if (Count>Target_Count)
{
     PWM_1_WriteCompare1(100);
     PWM_1_WriteCompare2(0);
}
else
{
     PWM_1_WriteCompare1(100);
     PWM_1_WriteCompare2(0);
}

PWM_1_WriteCompare1(100);
PWM_1_WriteCompare2(100);
CyDelay(1000);

PWM_1_WriteCompare1(0);
PWM_1_WriteCompare2(0);
CyDelay(1000);

I could increase the 'sampling time' - the time between two control loops

The control signal is linearly dependent upon the 'error' in the output

The control signal is linearly dependent upon the speed of the joint

The error in the output is linearly dependent upon the speed of the joint

The change in joint position is linearly dependent upon the 'error' in the output

PWM_1_WriteCompare1(100);
PWM_1_WriteCompare2(0);
CyDelay(1000);

PWM_1_WriteCompare1(0);
PWM_1_WriteCompare2(0);

Count=QuadDec_1_GetCounter();
if (Count>Target_Count)
{
     PWM_1_WriteCompare1(100);
     PWM_1_WriteCompare2(0);
}
else
{
     PWM_1_WriteCompare1(100);
     PWM_1_WriteCompare2(0);
}

PWM_1_WriteCompare1(100);
PWM_1_WriteCompare2(100);
CyDelay(1000);

PWM_1_WriteCompare1(0);
PWM_1_WriteCompare2(0);
CyDelay(1000);