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Unread 21-11-2013, 22:45
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Re: Prototype transmission for potential use this year

Quote:
Originally Posted by Madison View Post
Forgive me if I missed this, but what kind of feedback are you receiving that allows you to measure actual velocity versus desired velocity?

With an encoder on the worm, you're only able to measure the CIM's speed; you can't empirically determine whether or not the rotation of the worm is actually being transformed into linear motion along the ground. The presence of (or lack of) backlash between the wheel / worm gear / worm doesn't change that.

Yes you are right. I was talking from a more theoretical viewpoint rather than a practical one where assumptions like wheels not slipping aren't necessarily accurate. Although thinking about it, since we know how much and in what direction force is applied to the motors, we can have a feedback loop with the accelerators which would indeed tell us actual acceleration vs attempted. so if wheels are moving but robot isn't well we know we arn't actually going anywhere or if the proportions are off what they should be.