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![Figure 7. PID Controller [28]](profile/Deepak-Kumar-174/publication/369888984/figure/fig6/AS:11431281140345190@1680959629725/PID-Controller-28_Q320.jpg)
Contexts in source publication
Context 1
... Design of robot is modeled in CAD software (Autodesk Inventor Professional) (Fig. 1). Design was taken from Joop Brooking's model [25] for reference. In the developed design, additional mass is provided to upper part of the robot, so that the center of mass will be at higher position relative to the wheel axis. It will increase moment of inertia of robot, which causes reduction in angular acceleration of robot. ...
Context 2
... inclinations of robot. These values were obtained from serial monitor of arduino while keeping robot at different angle of inclinations. Here, PID output variable was restricted between -800 µs to 800 µs (values corresponding to -30° and 30° inclination) because it is not possible to balance robot if it inclines greater than 30° [25]. From the Fig. 18, it is clear that PID output variable is limited to 800 µs for inclinations greater than or equal to 30° and -800 µs for inclinations lesser than or equal to -30°. Equation in the form of pulse width is written to drive stepper motors from PID output value. It means that the pulse width will be changed according to PID output variable ...
Context 3
... Design of robot is modeled in CAD software (Autodesk Inventor Professional) (Fig. 1). Design was taken from Joop Brooking's model [25] for reference. In the developed design, additional mass is provided to upper part of the robot, so that the center of mass will be at higher position relative to the wheel axis. It will increase moment of inertia of robot, which causes reduction in angular acceleration of robot. ...
Context 4
... inclinations of robot. These values were obtained from serial monitor of arduino while keeping robot at different angle of inclinations. Here, PID output variable was restricted between -800 µs to 800 µs (values corresponding to -30° and 30° inclination) because it is not possible to balance robot if it inclines greater than 30° [25]. From the Fig. 18, it is clear that PID output variable is limited to 800 µs for inclinations greater than or equal to 30° and -800 µs for inclinations lesser than or equal to -30°. Equation in the form of pulse width is written to drive stepper motors from PID output value. It means that the pulse width will be changed according to PID output variable ...
