Group items tagged

Perhaps the most difficult control problem for a drive servo is that of going down a ramp. Any back drivable drive servo will exhibit a freewheeling velocity on a given ramp. This is the speed at which the robot will roll down the ramp in an unpowered state. At this speed, the surface drag and internal drag of the servo are equal to the gravitational force multiplied by the sine of the slope. The freewheeling speed is thus load dependent.

SLAM ( Simultaneous localization and mapping ),  PID ( Proportional integral derivative ) controller & ODOMETRY ( hodos, meaning “travel“, “journey” and metron, meaning “measure“)