A low-cost solution of motor control system for Robocup robots

This paper describes a motor control system for Robocup (small-size league) robot [1]. Our aim was to build high performance robots at a minimal cost. We achieved a low-cost design with the use of cheap motors and use of small DC motors for speed feedback. All controls were completed by a single microcontroller. We also established predictive controllers in software to improve the system’s performance.