Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders

Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders

In this study, an XYθ position sensor is designed/proposed to realize the precise control of the XYθ position of a holonomic inchworm robot in the centimeter to submicrometer range using four optical encoders. The sensor was designed to be sufficiently compact for mounting on a centimeter-sized robo...

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Bibliographic Details
Main Authors: Kengo Tanabe, Masato Shiota, Eiji Kusui, Yohei Iida, Hazumu Kusama, Ryosuke Kinoshita, Yohei Tsukui, Rintaro Minegishi, Yuta Sunohara, Ohmi Fuchiwaki
Format: Article
Language:English
Published: MDPI AG 2023-02-01
Series:Micromachines
Subjects:
XYθ position control
holonomic inchworm robot
optical encoder
closed-loop control
calibration
crosstalk error
Online Access:https://www.mdpi.com/2072-666X/14/2/375

Internet

https://www.mdpi.com/2072-666X/14/2/375

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