Making machines move: PID control, kinematics, torque, gear reduction and encoders
Control output from proportional, integral and derivative of the error.
Independent motions of a mechanism from bodies and constraints.
Output torque after gear reduction, allowing for efficiency.
Smallest angle a rotary encoder can resolve.
Torque of a DC motor is proportional to current.
Voltage a spinning motor generates against its supply.
End-effector position from joint angles of a two-link arm.
Torque needed to angularly accelerate a rotating mass.
Angle turned per step from steps per revolution.
Finer step angle from microstepping a stepper motor.
Distance a wheeled robot travels from encoder counts.
Time for a control response to settle within 2% of target.
Frequency of a control loop from its cycle time.
Torque a joint must hold to support a payload at reach L.
Runtime from battery charge and current draw.