Precise Position Control of Holonomic Inchworm Robot Using Four Optical Encoders

In this study, an XYθ position sensor is designed/proposed to realize the precise control of the XYθ position of a holonomic inchworm robot in the centimeter to submicrometer range using four optical encoders. The sensor was designed to be sufficiently compact for mounting on a centimeter-sized robo...

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Bibliographic Details

Published in:	Micromachines
Main Authors:	Kengo Tanabe, Masato Shiota, Eiji Kusui, Yohei Iida, Hazumu Kusama, Ryosuke Kinoshita, Yohei Tsukui, Rintaro Minegishi, Yuta Sunohara, Ohmi Fuchiwaki
Format:	Article
Language:	English
Published:	MDPI AG 2023-02-01
Subjects:	XYθ position control holonomic inchworm robot optical encoder closed-loop control calibration crosstalk error
Online Access:	https://www.mdpi.com/2072-666X/14/2/375