4
votes
Inner current controller benefits
What would be the benefits of implementing this full nested control architecture for the control compared to my current implementation
Textbooks are always a great source of information!
Reference: &...
- 3,995
2
votes
Rotary Stage (high resolution controller for BLDC motor)
Do you have a predefined trajectory to track?
Did you try adding a feed forward term to the cascaded controller based on the velocity of the trajectory?
Do you use a torque controller(cascaded pos-vel-...
- 6,632
1
vote
How to connect cmd_vel to motor_command in ROS
Based on the twist_to_motors.py documentation, it sounds like you have to map the following two published topics to your motor command subscribers:
lwheel_vtarget - (std_msgs/Float32)
The target ...
- 818
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