Feedback fundamentals
What does closing the loop change in a one-joint pendulum?
P-only feedback overshot or oscillated more; adding velocity feedback made the response settle more cleanly.
Inspect experiment →Working Notes · Robotics
Robotics Test Bench
Small simulation experiments for building physical intuition: make a prediction, run the smallest useful test, observe the result, then update the model.
- Question
- Prediction
- Experiment
- Observation
- Belief update
Resolved evidence
Experiments
Multi-DOF dynamics: make coupling visible
What happens at one joint when only the other joint is driven?
A passive elbow moved with zero elbow command, replacing an independent-joint model with a full-mechanism view.
Inspect experiment →Model-based control: prepare torque from the model
What does dynamics knowledge buy, and what happens when it is wrong?
Accurate feedforward nearly removed the tracking residual. A controller-only mass error returned a structured feedback burden.
Inspect experiment →View the canonical Robotics Test Bench repository ↗Code, issue state, and full reasoning history remain there.