제어로봇시스템학회:학술대회논문집
- 1990.10b
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- Pages.1093-1097
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- 1990
Control of servomotor for hospital mobile robots
- Kimura, Ichiro (Department of Mechanical Engineering, Faculty of Science and Engineering, Saga Univ.) ;
- Watanabe, Keigo (Department of Mechanical Engineering, Faculty of Science and Engineering, Saga Univ.) ;
- Jin, Sang-Ho (Department of Mechanical Engineering, Faculty of Science and Engineering, Saga Univ.) ;
- Kaneko, Satoru (Department of Mechanical Engineering, Faculty of Science and Engineering, Saga Univ.)
- Published : 1990.10.01
Abstract
A d.c. servomotor with pulse encoder is used to improve the movement of a hospital mobile robot along the desired line. We can achieve an improved movement of the robot by applying a PLL control. It is then shown that we can also reduce 42% of the power dissipation by the use of a PWM control. Furthermore, some simulation studies are presented to illustrate the design of PI control and optimal regulator for the control of the d.c. servomotor.
Keywords