How a two wheeled mobile robot work? In this guide I study the mathematical problem about the unicycle. An introduction about the kinematic, and an detailed example about the unicycle, and other little tips about this kinematic model.
A detailed section about sensors and other technics to measure the enviroments. First an Encoder for motor. Infrared, ultrasonic, thermal and other sensors are explained in the area.
DC BRUSHED MOTORs
A DC motor is any of a class of electrical machines that converts direct current electrical power into mechanical power. How a DC motor works? All information from the physical problem to the approximated equation for control application.
More DC/DC converters are used in an robot. An example to control the supply voltage for microchip and boards, the H-bridge to control the power for DC motors. In this guide you che learn the basic problem about this technic.
ESTIMATION MOTOR PARAMETERS
To estimate all model parameter in a DC brushed motor are required different type of tests. In this guide I have estimate for example all parameters for a little DC motor.
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