Digital Servo Calibration and Modeling
Tech. Report, CMU-RI-TR-09-41, Robotics Institute, Carnegie Mellon University, March, 2009
Abstract
The introduction of digital microcontrollers into “hobby” servos opens new doors for consumer and educational robotics. However, the new operational modes, parameters, and sensory feedback also add complexity. This paper will analyze the capabilities of these servos, and describe methods of calibration and motion modeling for accurate planning and control. As much as possible, these methods avoid use of precision rigs or expensive measurement devices to remain accessible to the classrooms, laboratories, and garages which these servos target.
BibTeX
@techreport{Tira-Thompson-2009-10181,author = {Ethan Tira-Thompson},
title = {Digital Servo Calibration and Modeling},
year = {2009},
month = {March},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-09-41},
keywords = {servo, calibration, control},
}
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