제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Control of servomotor for hospital mobile robots

  • Kimura, Ichiro (Department of Mechanical Engineering, Faculty of Science and Engineering, Saga Univ.) ;
  • Watanabe, Keigo (Department of Mechanical Engineering, Faculty of Science and Engineering, Saga Univ.) ;
  • Jin, Sang-Ho (Department of Mechanical Engineering, Faculty of Science and Engineering, Saga Univ.) ;
  • Kaneko, Satoru (Department of Mechanical Engineering, Faculty of Science and Engineering, Saga Univ.)
  • Published : 1990.10.01
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Abstract

A d.c. servomotor with pulse encoder is used to improve the movement of a hospital mobile robot along the desired line. We can achieve an improved movement of the robot by applying a PLL control. It is then shown that we can also reduce 42% of the power dissipation by the use of a PWM control. Furthermore, some simulation studies are presented to illustrate the design of PI control and optimal regulator for the control of the d.c. servomotor.

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