Download by SEP 17 1996

Transcript
possible. Because of the sprocket gearing, the 880 pulses per output shaft rotation
translate to 497 pulses per wheel revolution. With a wheel circumference of 25 in, the
robot moves 0.05 inches per pulse. Therefore, the robot can monitor its position within
0.05 inches. Using a 16 bit number to represent the number of counts to move (i.e.
distance), the robot can move 276 feet with 0.05 inch resolution in one command. Of
course, error will become a factor as the wheels slip slightly or the ground becomes
uneven.
Encoder Wheel
M
rbox
Optical
Sensor
Figure 3: Motor and Shaft Encoder