Synchronizing motors uisng PID with Dual-Motor-Driving

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.