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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: &...
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-...
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1 vote

How to connect cmd_vel to motor_command in ROS

Based on the 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 ...

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