Monitoring the Current Provided by a Hall Sensor Integrated in a Drive Wheel Module of a Mobile Robot

This article describes a method for the real-time monitoring of current consumed by Dynamixel MX 64 AT servomotor used in actuation system modular mobile robotic platforms having differential locomotion and conventional wheels. The data acquisition is based on an Arduino Mega 2560 development board interfaced with Matlab Simulink ASC712-5A hall sensor detection. A model presented that performs detection reference voltage, which needs to be calibrated correct reading current. Due low resolution analog-to-digital converter equipped, difficult achieve, large fluctuations lower than absorbed servomotor. solution this problem achieved implementing, hardware construction, ADS115 conversion module 16-bit resolution, leads increase measurement range sensor. Hall experimentally validated using measurements physical drive wheel. further deals CAD digital block modeling four two dynamic robot created Simulink–Simscape–Multibody environment determine torques when moving along predefined path. torque variations are entered as variables robot. simulated square path, determines variation motors. Experimental validation carried out functional models operate real conditions. power consumption proposed.