Version 2.0 Segway RMP – User Guide
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Velocity Commands
The next series of graphs show how the RMP accelerates in response to a desired velocity
command. Note the following features in the data:
• The wheels move back slightly at the start of a forward acceleration, creating a delay
• The wheel speed overshoots the desired speed in order to stop accelerating and maintain
constant speed
• The tilt angle of the RMP is a direct function of the acceleration limit – lower acceleration
rates produce less tilt.
This figure shows the response of the RMP to a step input in the velocity
command. The commanded speed is 4 mph or 1.77 m/sec. The Acceleration
scale factor was set to 50% of maximum (8 counts)
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