Browsing by Subject "servo motor"

Now showing 1 - 2 of 2

Access status: Open Access ,
Identification of the servo motor used in the walking robot
(Wydawnictwa AGH, 2010) Piątek, Marcin
The paper describes the servo motor modelling and identification procedures. The hexapod - six-legged walking robot is presented. The Hitec servo motors are the robot actuators. The development environment where all experiments are performed is described in detail. The precise analysis of the servo motor static behaviour is done and the results are shown in numerical and graphical forms. An effort to identify the servo motor as a linear object has been taken. Finally, a non-linear model structure is assumed. The identification results are presented.
Access status: Open Access ,
Real Time Application Interface focused on servo motor control
(Wydawnictwa AGH, 2006) Piątek, Marcin
The work describes how to use modified GNU/Linux, Real Time Application Interface operating system. It provides mechanisms for developing hard real time task and related features. System architecture and some main features are discussed. Two main parameters: latency andjitter are collected. Additionally the jitter is measured and compared with RTAI and Matlab/Simulink® Real Time Windows Target. Some basic tests are performed e.g. a square wave and a sine wave were generated and results are shown. The main goal of the paper is to develop a servo motor control system. The Linear Quadratic based algorithm is used as a two layer algorithm. The proportional controller is calculated in the first layer. Paramters of this algorithm are obtained in the second layer. It benefits from the special, multilayer system structure. In comparison the same algorithm is developed with Matlab/Simulink® and its Real Time Windows Target extension. The results are measured and shown in a graphical form.