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Unread 09-14-2017, 01:10 AM
AustinSchuh AustinSchuh is offline
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Re: Tuning a PIDF follower on a robot with high gearing

Quote:
Originally Posted by Oblarg View Post
Could you provide any insight into why motors so nonlinearly under these conditions? It doesn't seem clear to me from the state equations.
It's the friction that isn't linear, not the motors. Rolling resistance, scrub forces, and static friction are a bear.