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The objective of ?Control of TCP muscles using Takagi-Sugeno-Kang fuzzy inference system? is to control the force of a Twisted and coiled polymer (TCP)  actuator in a short period (i.e., small settling time), without applying high voltage and without breaking the actuator. In addition, the controllers must run in a commonly available digital microprocessor/microcontroller using analog to digital converter (ADC) and digital to analog converter (DAC) for practical implementation. Moreover, the controllers must be robust and work in the presence of sensor noise and disturbance. Our methodology is to use black-box system identification to find the order of the actuator, model the system as a discrete-time state space system, estimate the state space parameters with the prediction error method (PEM), use a digital PI controller to ensure a robust closed-loop system and short time to steady-state, and use Takagi?Sugeno?Kang (TSK) to design a faster digital controller.
There are four important target in modeling and control of TCP actuators:
(1) Determining the force of an actuator in response to voltage for different geometries,
(2) Modelling the system in observable form and discrete-time,
(3) Designing digital controllers
(4) Increasing the speed of actuation without decreasing the actuator lifetime.
I'm entering a line maze following competition.The problem is that I don't get a map of the maze beforehand or second chances.Here's the competition info. ... XJG1F/view
My idea is something like extending a camera module upwards somehow,analyzing the image input from it using Raspberry pi and get a map of the route to find the path.But I don't know how to do it.analyzing the image input from the camera module using Raspberry pi and getting a map of the route to find the path is the problem.
Any kind of help is appreciated!
I'm looking to make a wing build similar to the one pictured below but am not sure what motors to use for the shoulders and to flap the wings in place of the hinge in the middle, the shoulder motors appear to be custom dc worm gear motors and I was about to purchase power window motors to use in place of the shoulder motors and two for each wing arm in the central back pack unit, the thing is that power window motors pull incredibly high amps which made me reconsider using dc worm gear motors but I can't seem to find which one would be suitable for this build.
Misc / Summer SALE !!!
« Last post by ServoCity on June 15, 2018, 02:06:11 PM »
It's summertime and we're kickin' it off with sizzling summer deals! For a limited time get 30% - 40% OFF Actobotics!
Electronics / dc motor mechanical oscillator
« Last post by rouncer on June 09, 2018, 01:44:44 AM »
Electronics / Re: voltage divider for absolute positioning of driver motor
« Last post by rouncer on June 06, 2018, 01:02:55 PM »
Misc / Re: Non standard H-Bridge?
« Last post by rouncer on June 05, 2018, 12:32:34 PM »
Im back,   you should draw a simpler schematic of it, and see if you can nut it out,   hbridges are pretty simple,   this looks fancy,  its only 2 transistors and 1 diode!   nice 1.
Robot Videos / concept illustration for a hexapod
« Last post by rouncer on June 04, 2018, 09:00:56 PM »
The ones with the head planted central on the body look dorkier,   ive seen a few like this.   theres 2 places you can put a head on a spider, at the front is the cooler one,  planted on top is the cuter look. :)

But the dorkier one has a lot more space for a big chopper mouth,  scary.  I was going to say "brain space"  but a brain can be anywhere in a robot,  so i guess its more functional space in general.

heres a video of one like this in action.
Misc / Re: Non standard H-Bridge?
« Last post by rouncer on June 03, 2018, 10:24:29 PM »
It would take you a bit of time, but as long as you use a small enough power supply,  you wont blow a component by accident and you can check for conductance.

From the look of it,  id say those 4 big metal bits out the edges would connect to the motor.   But those transistors look pretty small, they wouldnt take much current.

From the look of those resistors and transistors its look pretty low watt,  which doesnt make sense to me, cause a h-bridge should be high watt.
What do u think?
Misc / Non standard H-Bridge?
« Last post by deepakprabakar on June 03, 2018, 08:13:00 AM »
I m an noobie at robotics. I just started out by buying a bunch of components I might need for building a line mover bot. I have attached images of the hbridge that I bought. I am unable to figure out how to use it because it does not match with any of the standard hbridges that I see online. Leads me to wonder if I have been duped. Any help in figuring out the connections or any urls that might be useful in figuring this out will be much appreciated. Thanks a lot!
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