In this paper we investigate the problem of controlling a scratch drive actuator that has two discrete modes of locomotion: forward motion in a straight line, and forward motion with fixed radius curvature. This type of device can be modeled as a two-wheeled vehicle (with the previously stated constraints). By alternating between these two modes of operation, the device can move along a variable-radius curved path. In practice, the robots do not move in a purely straight manner. This paper seeks to quantify the accuracy that can be achieved by switching between the two modes of locomotion. This type of low-level open-loop control facilitates the use of a higher level feedback controller designed for two-wheeled vehicles with a variable turning radius.
- Dynamic Systems and Control Division
PWM Control Accuracy for Scratch Drive Actuators
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Piepmeier, JA, & Firebaugh, SL. "PWM Control Accuracy for Scratch Drive Actuators." Proceedings of the ASME 2010 Dynamic Systems and Control Conference. ASME 2010 Dynamic Systems and Control Conference, Volume 2. Cambridge, Massachusetts, USA. September 12–15, 2010. pp. 9-14. ASME. https://doi.org/10.1115/DSCC2010-4119
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