Servo and sensor control on small mobile platforms

Abstract

System integration is an unavoidable and important part of a project. Considerable amounts of time and resources are always devoted to make sure that all the components in a project work not only properly, but also work together properly. This work discusses how different elements of a “desktop” robotic platform that was designed and constructed at FIU had to be controlled to achieve an effective and mechanically stable platform. For this purpose, we review the platform design, sensor utilization and servo control developed for this project. We then demonstrate that a proper servo and sensor control structure can indeed improve the platform performance appreciably.