Real-Time Measurement System for Input-output Data of RC Servo Motor
Author : Hirofumi Maeda
Abstract :
In Japan, as the number of sewerage management facilities increases, the deterioration of long-term use facilities is regarded as a problem. Under such circumstances, inspection using robots has been actively performed. Against this background, we have been independently researching and developing an autonomous pipe inspection robot that is compact and easy to carry for practical use. Our pipe inspection robot uses an RC servo motor for the drive unit in order to make the robot body smaller. RC servo motors have the characteristics of lightweight and high torque, and in recent years, they are used not only for hobby applications but also for robots. Furthermore, some RC servo motors are particularly designed for robots, and not only high-performance, but also have various functions. However, although RC servo motors are easy to handle, the inside of the motor is a black box. A pipe inspection robot is a system in which dynamics plays an essential role because it comes into heavy contact with the pipe surface. Therefore, in order to make it high-performance, controlling the robot based on the original angle command of RC servo motors is insufficient. For this reason, control that is based on a dynamic model considering the internal state of the RC servomotor is required. Therefore, in this study, the ultimate goal is to construct a practical mathematical model with the servo motor considered as a dynamic system and. In this paper, we propose a system that enables real-time acquisition of input/output data necessary for the system identification of RC servo motors. In addition, using this system, it is confirmed that the input data can be measured accurately and that the overshoot by PID control can be detected, demonstrating its effectiveness.
Keywords :
RC servo motor, modeling, real-time, exploration robot, water pipe
