Motion Controls Robotics

There are some motion control techniques in robots. Below are the explanations of motion controls:

1. Velocity Control.
It is a common control mechanism to control the velocity of a motor. The most problem in the velocity control is how to measure very low velocities. Various approaches can be used to counter this problem they are a variable measuring period or measuring the period between counts.

2. Position Control
Position control loops are very much like the traditional R/C servos: you input a desired position and the servo logic drives the output shaft to that position with whatever force is required. With position profiling the forward velocity of the robot can be any arbitrary low amount. It might be that the motor shafts advance only every so often, but they will advance smoothly and the robot will crawl along.

3. Servo Feedback Control
A servo is simply a mechanism that slaves some sort of action to some sort of input. When talking about mechanical systems, typically some sort of input motion or signal is used to control the output motion of the system using some sort of feedback to maintain the output at a level selected by the input.

4. DC Motors
Small DC motors are easy to model and control. Fortunately for us, they can be reduced to simple terms so our control algorithms are easy to code. The permanent magnet DC motor can be modeled as a device that produces torque proportional to the current flowing through it. It also produced a voltage proportional to the rotational velocity.

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