128. characterizing non linear effects in low cost motors
Name: Daniel Jiaji Yang
Grad Year: 2018
DC motors and gearboxes are ubiquitous in small scale robotic applications. When a motor spins at high speeds, it's behavior is linear and well understood. However, at low speeds or when the motor changes direction, it is dominated by nonlinear effects such as stiction, induction, and backlash. For ground robots, motors almost always operate in this non-linear regime. All of these problems are even more prevalent in lost cost motors where documentation is often incorrect or even non-existent. This work looks specifically at characterizing and developing a model for these effects, as well as suggesting control strategies to mitigate these non linear effects in small scale ground robots.
Industry Application Area(s)