Fig. 9: Control architecture of the Micro-X4.
From: Miniature origami robot for various biological micromanipulations
The target motor position is determined using the inverse kinematic model with the desired destination. The motor’s position is sampled by the encoder and subsequently transmitted to the Field-Oriented Control driver. The motor’s velocity is calculated from the encoder position. The target velocity is manually set. The motor’s current is sampled by the Field-Oriented Control driver, and its limitation is manually set. The calculated driving signal is then sent to the motor.
