Controls of servomotors for carry hospital robots

Sangho Jin, Ichiro Kimura, Keigo Watanabe

Research output: Contribution to journalArticlepeer-review


Two methods for controlling servomotors with pulse encoders are presented for improving the movement of a carry hospital robot (CHR) along a desired line. Some simulation studies have been executed for the design of a PI controller or optimal regulator for the control of the DC servomotor. By applying the simulation results, we actually design a PI controller in an analogue circuit and experimentally compare the results of the PI control with those of a PLL (Phase Locked Loop) control. It is then clarified that the latter approach is effective in improving the accuracy of the CHR.

Original languageEnglish
Pages (from-to)353-369
Number of pages17
JournalJournal of Intelligent & Robotic Systems
Issue number3
Publication statusPublished - Jun 1993
Externally publishedYes


  • Carry hospital robot
  • DC servomotor control
  • PI control
  • PLL control
  • computer control
  • mobile robot

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering
  • Artificial Intelligence


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