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Omnidirectional Robot

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yasser_shoukry

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I have a project in which i have to implement three closed control loops to control the speed of three omni wheels using PIC microcontrollers.

My question is what is the best method to sense the motor's speed (Tachometers , shaft encoders , .... ) ?

Thanks in advance and Best regards,
Yasser
 

Optical shaft encoder or magnetic disk and hall sensor will do the same job, as far as speed measurement is concerned ..
I would go for a disk with magnets and hall sensors, simply beacuse this option is less expensive than shaft encoders ..

Rgds,
IanP
 

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