A New Approach to Robot Motor Control
Journal Article
·
· TBD
OSTI ID:2429307
- Fermilab
This essay details the motor control improvements to Fermilab's Remote Viewing Robot (RVR). It is a robot tasked with remotely investigating issues within the accelerator tunnels at Fermilab. Initially controlled by a single Raspberry Pi that housed all the robot s operations, the RVR will now use a Raspberry Pi Pico W for its motor control. This was achieved using Pulse Width Modulation (PWM) to allow for precise speed and torque control for the robot. This enhances the robot s reliability. By addressing the challenge of navigating high radiation environments, the upgrade helps assist the RVR s goal of decreasing the need for human intervention in accelerator tunnels.
- Research Organization:
- Fermi National Accelerator Laboratory (FNAL), Batavia, IL (United States)
- Sponsoring Organization:
- USDOE Office of Science (SC), High Energy Physics (HEP) (SC-25)
- DOE Contract Number:
- AC02-07CH11359
- OSTI ID:
- 2429307
- Report Number(s):
- FERMILAB-PUB-24-0440-STUDENT; oai:inspirehep.net:2817555
- Journal Information:
- TBD, Journal Name: TBD
- Country of Publication:
- United States
- Language:
- English
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