Subject:
|
moving in a straight line with two motors?
|
Newsgroups:
|
lugnet.robotics
|
Date:
|
Fri, 13 Nov 1998 03:11:09 GMT
|
Viewed:
|
2216 times
|
| |
|
|
Hi,
One of the first things I ran into when making a mobile 'bot using one
motor for each of two drive wheels was the mismatch in their speed.
Needless to say, it's a nice way to make curved path. Not what I want.
So I've got one of those nifty angle sensors. I'd like to use it for
feedback from the wheels to tell a motor to slow down when it gets too
far ahead of the other one. An obvious thing to do is to use two
angle sensors and subtract them, but I'd like to do it with one sensor,
given there are only 3 sensor inputs.
A simple mechanical way to do this is to use a differential gear,
driving it backwards. One input gets the rotation of one wheel, and
the other input gets an inverted rotation of the other wheel. With
equal wheel rotations, there is no movement of the differential
housing.
Unfortunately, gear slop keeps this from working well for me. Any
suggestions?
Thanks,
-Tim
--
Tim and/or Shelley Rueger - rueger "at" io.com
WWW page: http://www.io.com/~rueger/
|
|
Message has 2 Replies:
 | | Re: moving in a straight line with two motors?
|
| Tim, Instead of using the differential for angle sensors, why not use it to allow a single motor to drive both wheels? Then a single angle sensor coupled with a motor could drive the steering mechanism. This setup would be very similar to a radio (...) (26 years ago, 13-Nov-98, to lugnet.robotics)
| | | Re: moving in a straight line with two motors?
|
| Tim, I used a quick and dirty technique to create steering maps for a robotic car when I was an undergrad at RPI and it sounds like you've got all the ingredients you'd need to do the same thing. Essentially you need to tow a trailer behind your (...) (26 years ago, 14-Nov-98, to lugnet.robotics)
|
6 Messages in This Thread:
  
 
- Entire Thread on One Page:
- Nested:
All | Brief | Compact | Dots
Linear:
All | Brief | Compact
|
|
|
|
