Control of a propulsion mechanism over a wireless network
نویسندگان
چکیده
This paper investigates the implementation of a pendulum-driven cart-pole system through wireless networks. The system is underactuated since the only control input is the motor which drives the pendulum movement while the cart has free movement wheels. An onboard client PC controls the torque to the motor, whilst a host PC monitors progress and controls the demand to the motor. The two PCs have been connected via a proprietary wireless network to allow the controller to be remote from the robot. The client PC interprets commands sent via the network from the host PC to control the torque of the pendulum device. The client PC also relays the pendulum position which the host PC uses as feedback to specify the torque to send.
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