4
votes
How to control a 4 wheel mechanum wheel robot with PID?
Let's consider first the task you are wanting to accomplish: following some sort of Cartesian space trajectory. So, you are wanting to make sure your robot is only moving in the x-direction. However, ...
- 884
1
vote
Recording controller output
Really comes down to the system and how you want to implement it. Sometimes it never records, other times it always records, other times it comes with a debug mode that records for you to analyse when ...
- 128
1
vote
How to avoid oscillations caused by backlash in position control?
Backlash is not limited to just when you change directions. You can open the space in the gear train by slowing the motor down faster than the load would slow down on its own and yet both the motor ...
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