motion control in a curve path

[viccram]

i am trying to move my robot in a curve path....
i am using incremental encoder having 96 pulse per revolution
and microcontroller PIC16F877a and a XTAL of 11.0592Mhz.

how do i make this possible...

i am trying to control two wheels simulatneosly...ie i hav given then required pulse per sampling time to each wheel(ie to make robot move in a circular path i hav given the required pulse of left wheel less than that of right) and tune it using PID.

but i am not sure how to proceed to this

has any one done this before???any suggestions???

 

[Slayerza]

I would suggest that you calculate the required speed difference between the wheels (this is the number of encoder samples) and use PWM to drive each motor independently. This will allow the vehicle to move in circular or any other arbitrary paths. By running both motors at the same speed for different times the wheel with fewer steps will lock up (via the gear train) and cause the vehicle to move in a path that is not accurate, if at all correct.

Cheers
Slayer