K-Team Khepera III User Manual - page 17
Used in position profile mode (’F’ command), the controller has as in-
put a target position of the wheel, an acceleration and a maximal speed.
Using this values, the controller accelerates the wheel until the maximal
speed is reached, and decelerates in order to reach the target position. This
movement follows a trapezoidal speed profile, as described in figure 3.7.
time
time
position
speed
acc
-acc
start position
target position
max_speed
Figure 3.7: Speed profile to reach a target position with a fixed acceleration
(acc) and maximal speed (max speed).
The input values and the control mode of this controller can be changed
at every moment. The controller will update and execute the new profile
in the position mode, or control the wheel speed following the new value in
the speed mode.
First configure the speed profile (’J’ command) with the needed param-
eters. Then you can perform a move with the position profile mode (’F’
command). See annexe A for more details about communication protocole.
Khepera III manual ver 2.2
15