ISSN:
1573-0409
Keywords:
Carry hospital robot
;
computer control
;
DC servomotor control
;
mobile robot
;
PI control
;
PLL control
Source:
Springer Online Journal Archives 1860-2000
Topics:
Computer Science
,
Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
Notes:
Abstract Two methods for controlling servomotors with pulse encoders are presented for improving the movement of a carry hospital robot (CHR) along a desired line. Some simulation studies have been executed for the design of a PI controller or optimal regulator for the control of the DC servomotor. By applying the simulation results, we actually design a PI controller in an analogue circuit and experimentally compare the results of the PI control with those of a PLL (Phase Locked Loop) control. It is then clarified that the latter approach is effective in improving the accuracy of the CHR.
Type of Medium:
Electronic Resource
URL:
http://dx.doi.org/10.1007/BF01257772
