The wheel motors, their gearing, wheel encoders (for position feedback) and tachometers (for velocity feedback) were housed in-wheel.
A new type of velocity measurement transducer has been used instead of the conventional tachometer.
The measuring devices used in this work are the shaft encoder, tachometer and an accelerometer along the arm.
On the other hand, the tachometer is used for measurement of the hub velocity.
A tachometer is used for measurement of the hub velocity.
To overcome this problem, a velocity transducer was purpose designed for this application using the existing tachometer principle.
The motor includes an integrated tachometer and a servo potentiometer and drives a load via a 5:1 belt reduction.
The analog tachometer signals are sent to an analog/digital card inside the computer, which samples and digitizes the velocity measurements using 12 bits of resolution.
