Synchronizing motors uisng PID with Dual-Motor-Driving

Title
Synchronizing motors uisng PID with Dual-Motor-Driving
Authors
이우섭고동현서민교
Keywords
Synchronous motors; Gears; Annular Velocity; DC Motors; Mobile robots; Torque
Issue Date
2020-06
Publisher
International Conference on Ubiquitous Robots
Abstract
To prevent the situation where the motors do not working appropriately by the teleoperation of unstructured environments or the system malfunctions, Dual-Motor-Driving (DMD) mechanism is applied to the mobile robots. While the conventional robot system where one actuator is assigned to each Degree of Freedom (DoF), it is essential to control two motors synchronously due to the complex mechanical system of the DMD. To maximize the load torque, each motor must rotate as the same angular velocity. In this paper, we represent a DMD mechanism with the synchronized angular velocities of the motors with an experiment as a fundamental DMD research.
URI
http://pubs.kist.re.kr/handle/201004/72592
ISSN
-
Appears in Collections:
KIST Publication > Conference Paper
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