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Motor control

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Motor control

Motor control

Published in: Automotive

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  • 1. Feedback Control Robot Arm Position Control Using a Joystick CDI 2000 IRVING LIIMATTA JOE JOHNSON
  • 2. Feedback Control Control Diagram Example: Robot Arm Position Control Using a Joystick Control: Joystick Byte Value: 0 Physical: Arm Full Back Byte Value: 254 Physical: Arm Full Down Byte Value: 127 Phyical: Arm Mid Point
  • 3. Robot: Arm Arm Full Down (254) Arm Mid Point (127) Arm Full Back (0) Note: Values in ( ) represent the pot values. Output of 254 to Victor drives arm CCW Output of 0 to Victor drives arm CW Front of Robot Feedback Control Robot Diagram Example: Robot Arm Position Control Using a Joystick
  • 4. Control: Joystick Byte Value: 0 Physical: Arm Full Back Byte Value: 254 Physical: Arm Full Down Feedback Control Control and Robot Diagrams Example: Robot Arm Position Control Using a Joystick Byte Value: 127 Phyical: Arm Mid Point Robot: Arm Arm Full Down (254) Arm Mid Point (127) Arm Full Back (0) Note: Values in ( ) represent the pot values. Output of 254 to Victor drives arm CCW Output of 0 to Victor drives arm CW Front of Robot
  • 5. Feedback Control Block Diagram Example: Robot Arm Position Control Using a Joystick - + System Output Motor System Input Sensor Error Compensator
  • 6. armJoystick VAR BYTE ‘Joystick position value armPot VAR BYTE ‘Pot value that states the actual position of the arm arm VAR BYTE ‘Output value to Victor ARM_GAIN CON 2 . <Read Joystick Value> <Read Pot Value> ArmFeedBackControl: if (armJoystick > armPot) then ArmDown arm = 127 - (((armPot - armJoystick) * ARM_GAIN) MAX 127) goto EndArmFeedBackControl ArmDown: arm = 127 + (((armJoystick - armPot) * ARM_GAIN) MAX 127) EndArmFeedBackControl: . <Output to Victor> Feedback Control PBasic Code Example: Robot Arm Position Control Using a Joystick