Modeling and identification of a high resolution servo, for mobile robotics

被引：0
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作者：
Hashim, Ahmed Sachit [1 ]
Grămescu, Bogdan [2 ]
Cartal, Adrian Laurenţiu [2 ]
Niţu, Constantin [2 ]
机构：
[1] School of Mechanical Engineering and Mechatronics, University POLITEHNICA of Bucharest, Romania
[2] Dept.of Mechatronics and Precision Mechanics, University POLITEHNICA of Bucharest, Romania
来源：
UPB Scientific Bulletin, Series D: Mechanical Engineering | 2020年 / 82卷 / 02期
关键词：
Actuators - Friction - Graph theory - Three term control systems;
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学科分类号：
摘要：
The paper presents the modeling of a servo actuator and the way of conducting some experiments for determining its main physical parameters, when the datasheet does not specify them. The servo actuator is a closed loop positioning system with DC motor and PID control and its model is developed in 20-sim, by help of Bond Graph and Signal libraries. A modified Karnopp friction model is adopted for the friction losses in the gear speed reducer and the simulation for an obstacle avoidance of a mobile robot is presented. © 2020, Politechnica University of Bucharest. All rights reserved.
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页码：27 / 38
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