 | | Encoder Implemenation questions —James Munro
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| | | I have contructed a robot that I want to be able to move and position itself accurately. I have encoders (the Hamamatsu P5587) attached to analog inputs 4 & 5 using sencdr4 & 5. I have 24 segment encoders that should give me a resolution of about (...) (24 years ago, 11-Jan-01, to lugnet.robotics.handyboard)
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| | | | | Re: Encoder Implemenation questions —Chuck McManis
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| | | | | You step into the morass that separates reality from theory :-) The "right" way to do this is to measure the current on the servos, ramp their accelleration up and then down again as you approach your final endpoint. Read up on feedback systems and (...) (24 years ago, 11-Jan-01, to lugnet.robotics.handyboard)
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| | | | | | | Re: Encoder Implemenation questions —Chuck McManis
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| | | | | | | (...) No, your conclusion is too broad, simply stated if you don't monitor motor current (and to some extent model the inertia of the motor) in software, then your damping algorithm (which is effectively a constant based on your description) won't (...) (24 years ago, 11-Jan-01, to lugnet.robotics.handyboard)
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| | | | | | | | | Re: Encoder Implemenation questions —James Munro
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| | | | | | | | (...) Actually I was simplifying too much here. My goal is to be able to execute a relatively accurate 90 deg. turn to "round the curve" in a narrow hallway and to be able to spin on axis (robot is circular) a full 180 so I actually can count on (...) (24 years ago, 11-Jan-01, to lugnet.robotics.handyboard)
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| | | | | | | Re: Encoder Implemenation questions —James Munro
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| | | | | | (...) It certainly helps. I guess I'll stick to my kludge... it's easier. ;) So in order to do effective rotation sensors I need to monitor not only the rotations, but the power applied to the motor as well? That seems fairly complex but I guess (...) (24 years ago, 11-Jan-01, to lugnet.robotics.handyboard)
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| | | | | Re: Encoder Implemenation questions —Matthias Jetleb
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| | | | (...) I would suggest shutting it down early (say 5 ticks early) and using a "jog" mode whereby brief pulses are sent to the motor to move it the remaining distance. Lets say you shut it off at 19 (targeting 24) and the motor/load's momentum carries (...) (24 years ago, 12-Jan-01, to lugnet.robotics.handyboard)
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