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- $\begingroup$ I once developed a three-axle gimbal system for a camera from skratch and I know this motors and control techniques very well. If you don't use some feedback of your motor postion and so a torque based technique, you will never achieve good results, especially at very slow speeds. I recommend to use in addition to the IMU two rotary encoders and a torque based approach and you will achieve a controller in minutes. Another way would be to use brushed DC motors, since you then have already torque control integrated. $\endgroup$HansPeterLoft– HansPeterLoft2017-08-23 07:15:06 +00:00Commented Aug 23, 2017 at 7:15
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