Custom AGV velocity question
Posted: Mon Jul 20, 2020 7:40 am
Hello!
I am building a custom AGV from HEBI actuators (2x X5-9 at the front, 2 X5-1 at the back) and mecanum wheels. And my problem is, when I send a groupcommand, that they should move with 1 rad/s, the X5-9 can complete this task fully, but the X5-1 are going with like ~0.8 rad/s so the AGV is constantly drifting. I thought of getting a velocity feedback and adding the difference to the actual speed but I don't know how the professionals would do it so any tips would be appreciated.
Question no2:
Can I somehow "brake" the actuators which are not being used? My idea was to rotate it with something like 0.1 rad/s in the other direction, but I think that would damage the actuator in the long run no?
Thanks for the help :
István
I am building a custom AGV from HEBI actuators (2x X5-9 at the front, 2 X5-1 at the back) and mecanum wheels. And my problem is, when I send a groupcommand, that they should move with 1 rad/s, the X5-9 can complete this task fully, but the X5-1 are going with like ~0.8 rad/s so the AGV is constantly drifting. I thought of getting a velocity feedback and adding the difference to the actual speed but I don't know how the professionals would do it so any tips would be appreciated.
Question no2:
Can I somehow "brake" the actuators which are not being used? My idea was to rotate it with something like 0.1 rad/s in the other direction, but I think that would damage the actuator in the long run no?
Thanks for the help :
István