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Table of Contents
1. Use ROS to implement basic control logic
2. Control accuracy and feedback mechanism
3. Integrate computer vision for perception control
Home Backend Development Python Tutorial Python Robotics Control Systems

Python Robotics Control Systems

Jul 18, 2025 am 01:15 AM

Python is widely used in robot control and is suitable for building control system prototypes. 1. Use ROS to implement basic control logic, write scripts in Python to subscribe to sensor data, issue control instructions, such as creating nodes with the rospy module and controlling the robot to move for two seconds before stopping. 2. The control accuracy can be achieved through PID control, P adjusts the error intensity, I eliminates static errors, D suppresses overshoots, and can be implemented using the simple-pid library or custom classes. 3. Integrate computer vision for perception control, use OpenCV to identify image features, such as tracking red spheres and adjusting the direction of the car according to position, thereby realizing visual servo control tasks.

Python Robotics Control Systems

Python is a very practical tool when controlling a robot system. It not only has concise syntax, but also has rich library support, which can quickly build a control system prototype. Especially in academic research and industrial automation, Python has become one of the important languages for developing robot control logic.

Python Robotics Control Systems

1. Use ROS to implement basic control logic

ROS (Robot Operating System) is one of the most popular robot development frameworks at present, and Python is one of its main supported languages. You can subscribe to sensor data, issue control instructions, and even implement path planning by writing Python scripts.

  • After installing the ROS environment, you can use the rospy module to create nodes.
  • Write a simple control script, such as moving the robot forward for two seconds and then stopping:
 import rospy
from geometry_msgs.msg import Twist

def move():
    rospy.init_node('robot_controller', anonymous=True)
    pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
    rate = rospy.Rate(10) # 10Hz

    move_cmd = Twist()
    move_cmd.linear.x = 0.5 # Forward speed for _ in range(20): # Publish 20 times, each interval is 0.1 seconds, a total of 2 seconds pub.publish(move_cmd)
        rate.sleep()

    move_cmd.linear.x = 0
    pub.publish(move_cmd)

if __name__ == '__main__':
    try:
        move()
    except rospy.ROSInterruptException:
        pass

This method is suitable for basic motion control, sensor reading and other operations.

Python Robotics Control Systems

2. Control accuracy and feedback mechanism

Robot control is not just a simple command. It often requires closed-loop control, which is to add a feedback mechanism. PID control is one of the most common methods.

  • P (proportion) : The larger the error, the stronger the output.
  • I (integral) : Eliminates static errors.
  • D (differential) : Suppresses overshoot.

It is actually not difficult to implement a PID controller in Python. You can use ready-made libraries such as simple-pid or write a class yourself:

Python Robotics Control Systems
 pip install simple-pid

Sample code:

 from pid import PID
import time

pid = PID(1.0, 0.1, 0.05, setpoint=100)

current_value = 0
for _ in range(100):
    output = pid(current_value)
    current_value = output * 0.1 # Assume that the system response is 10% of the current output
    print(f"Current: {current_value:.2f}, Output: {output:.2f}")
    time.sleep(0.1)

This control method is suitable for motor speed control, robotic arm angle adjustment and other scenarios.


3. Integrate computer vision for perception control

Many robots now need to "see" the environment to react. Python's OpenCV and deep learning frameworks (such as PyTorch and TensorFlow) can help you achieve vision-based control.

For example, you want to make a car that automatically tracks red spheres:

  • Capture images with a camera.
  • Use OpenCV to find out the location of the red area.
  • Adjust the steering of the car according to the position offset.

Some core codes are as follows:

 import cv2
import numpy as np

cap = cv2.VideoCapture(0)

While True:
    _, frame = cap.read()
    hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)

    lower_red = np.array([0, 120, 70])
    upper_red = np.array([10, 255, 255])
    mask = cv2.inRange(hsv, lower_red, upper_red)

    contours, _ = cv2.findContours(mask, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)

    if contours:
        large = max(contours, key=cv2.contourArea)
        x, y, w, h = cv2.boundingRect(largest)
        center_x = xw // 2

        # Determine the position of the ball and send the control command if center_x < 300:
            print("Turn left")
        elif center_x > 340:
            print("Turn right")
        else:
            print("Go straight")

    cv2.imshow(&#39;frame&#39;, frame)
    if cv2.waitKey(1) == ord(&#39;q&#39;):
        break

cap.release()
cv2.destroyAllWindows()

This idea can be extended to more complex visual servo control tasks.


Basically that's it. Python is very flexible in robot control, and can be competent from the underlying hardware communication to the upper-level logic control. As long as you understand the system structure and control logic well, you can write efficient and reliable code.

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