Controls of servomotors for carry hospital robots

Sangho Jin, Ichiro Kimura, Keigo Watanabe

Research output: Contribution to journalArticle

2 Citations (Scopus)

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.

Original languageEnglish
Pages (from-to)353-369
Number of pages17
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume7
Issue number3
DOIs
Publication statusPublished - Jun 1993
Externally publishedYes

Fingerprint

Servomotors
Robots
Controllers
Analog circuits
Phase locked loops

Keywords

  • Carry hospital robot
  • computer control
  • DC servomotor control
  • mobile robot
  • PI control
  • PLL control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence

Cite this

Controls of servomotors for carry hospital robots. / Jin, Sangho; Kimura, Ichiro; Watanabe, Keigo.

In: Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 7, No. 3, 06.1993, p. 353-369.

Research output: Contribution to journalArticle

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