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.
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References
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Jin, S., Kimura, I. & Watanabe, K. Controls of servomotors for carry hospital robots. J Intell Robot Syst 7, 353–369 (1993). https://doi.org/10.1007/BF01257772
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DOI: https://doi.org/10.1007/BF01257772