Thread: Mini-Me robot arm controller
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Unread 19-10-2005, 10:38
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Chris Hibner Chris Hibner is offline
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Re: Mini-Me robot arm controller
Quote:
Originally Posted by Andrew Schuetze
If I understand this method, one sets the PWM motor control based on a percentage of the maximum difference. I.e. If the maximum range of motion on an axis is 180 degrees, when the difference between the mimic control and the robot arm is 180 one sets the motor speed to full, 100%, speed. As it moves into position the motor set point is reduced. When the difference is only 90 degrees, the motor speed would now be only 50% of max speed. If Frictional losses and moments of inertia are favorable, this method may not create oscillations around the setpoint.

APS
What you described here is a 'P' controller (i.e. a PID controller without the I and D).

Simply put, a P (proportional) controller does this: 1) determine the difference between the robot arm and the minime arm; 2) set the PWM proportionally to this difference.
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Last edited by Chris Hibner : 19-10-2005 at 10:40.