Regbot motor parameters: Difference between revisions

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This relies on a poorly designed motor current measurement and noisy velocity measurements.
This relies on a poorly designed motor current measurement and noisy velocity measurements.


These measurements can be repeated using the Regbot GUI. See [[User_interface#Motor_test]].
There is a tab called Wotor. Run the test a few times to get a sense of the variability in values.
It can also be advantageous to warm up the motor lubrication by running a short mission before the test.


== Measured values ==
== Measured values (Km, R, L)==


These measurements were taken during maintenance in January 2026; not all values were saved, but the list can be used as a guide, when creating a simulated model of the robot.
These measurements were taken during maintenance in January 2026; not all values were recorded, but the list can serve as a guide when creating a simulated model of the robot.


% (YY-MM-DD) (V/(rad/sec)) (V/(rad/sec)) (Ohm) (Ohm) (Henry) (Henry) (Nm/(rad/sec)) (Nm/(rad/sec)) (Kgm^2) (Kgm^2)
The motor constant (Km) is estimated from the steady-state velocity, the input voltage, and the motor current and resistance. The uncertainty primarily arises from poor current measurement, but also from variation in the permanent magnet strength.
ID Name HW type date K-left K-right R-left R-right L-left L-right D_left D_right Inertia eft Inertia Right
 
001 Emma 9 2025-12-23 0.009 0.0096 2.44 7.79 0.0056 0.0064 1.15E-06 815.69E-09 1.32E-03 861.84E-06
The motor resistance (R) is estimated from the peak current as the voltage is varied, and before the motor has changed velocity.
002 Sofia 9 2025-12-23 0.010 0.0095 2.80 8.28 0.0047 0.0070 1.38E-06 1.36E-06 .27E-03 863.19E-06
 
003 Ida     9 2025-12-23 0.010 0.0102 3.36 4.00 0.0078 0.0036 913.72E-09 2.07E-06 .11E-03 1.88E-03
The inductance (L) is estimated from the time it takes to increase the current to steady-state and before the motor has changed velocity. The peak current is used as the steady-state. The current at two times is used to estimate the exponential rise in current, i.e., the time constant of the L/R circuit.
008 Ella 9 2023-12-12 0.011 0.0111 2.18 5.24 0.0038 0.0037 8.45E-06 8.52E-06 .34E-03 4.02E-03
The sample time used for these measurements is 0.3ms.
  010 Karla 9 2025-12-28 0.013 0.0126 3.62 8.16 0.0045 0.0157 2.91E-06 2.78E-06 .38E-03 1.18E-03
This value may vary across motor generations but should be reasonably constant within them.
  018 Agnes 9 2023-12-14 0.012 0.0116 3.25 6.29 0.0061 0.0065 5.49E-06 5.52E-06 1.46E-03 1.28E-03
The newer generation of motors typically has a motor constant (Km) of 0.012, where the older versions have a value closer to 0.01. Some motors appear to have a lower value; it could be due to a weaker permanent magnet.
  019 Lily 9 2023-12-12 0.011 0.0110 3.51 4.81 0.0049 0.0040 1.01E-06 1.14E-06 1.20E-03 1.61E-03
 
  025 Emilie 9 2023-12-12 0.010 0.0090 8.76 4.26 0.0157 0.0032 883.39E-09 2.07E-06 960.68E-06 3.71E-03
 
  030 Rosa 9 2023-12-12 0.012 0.0122 2.85 7.57 0.0059 0.0065 17.42E-06 3.18E-06 4.83E-03 3.29E-03
ID Name K-left K-right R-left R-right L-left  L-right
  031 Lea     9 2023-12-12 0.010 0.0105 3.56 5.45 0.0060 0.0045 1.51E-06 1.67E-06 2.62E-03 3.63E-03
        (V/(rad/sec)) (Ohm) (Ohm) (Henry) (Henry)
  032 Signe 9 2025-12-07 0.013 0.0120 2.99 7.77 0.0051 0.0068 7.30E-06 4.15E-06 4.24E-03 3.55E-03
  1 Emma 0.0094 0.0096 2.4 7.8 5.6E-03 6.4E-03
  033 Filippa 9 2023-12-14 0.010 0.0099 2.56 5.51 0.0056 0.0043 2.63E-06 2.93E-06 3.44E-03 3.39E-03
  2 Sofia 0.0096 0.0095 2.8 8.3 4.7E-03 7.0E-03
  034 Julie 9 2023-12-12 0.011 0.0117 2.65 7.81 0.0045 0.0087 2.48E-06 2.52E-06 4.68E-03 3.13E-03
  3 Ida 0.0105 0.0102 3.4 4.0 7.8E-03 3.6E-03
  036 Liv     9 2023-12-14 0.013 0.0126 2.85 5.19 0.0041 0.0029 3.99E-06 4.47E-06 3.86E-03 4.96E-03
  8 Ella 0.0111 0.0111 2.2 5.2 3.8E-03 3.7E-03
  037 Vigga 9 2023-12-14 0.011 0.0111 3.22 9.51 0.0045 0.0266 2.26E-06 1.29E-06 3.72E-03 2.52E-03
  10 Karla 0.0128 0.0126 3.6 8.2 4.5E-03 15.7E-03
  038 Nanna 9 2023-12-14 0.010 0.0125 4.29 5.74 0.0089 0.0044 1.26E-06 1.18E-06 2.50E-03 4.20E-03
  18 Agnes 0.0118 0.0116 3.2 6.3 6.1E-03 6.5E-03
  039 Naja 9 2023-12-14 0.010 0.0104 3.74 6.09 0.0067 0.0039 1.15E-06 1.73E-06 2.65E-03 3.44E-03
  19 Lily 0.0113 0.0110 3.5 4.8 4.9E-03 4.0E-03
  040 Alba 9 2023-12-14 0.012 0.0124 2.93 4.40 0.0030 0.0026 4.28E-06 4.51E-06 3.83E-03 4.93E-03
  25 Emilie 0.0095 0.0090 8.8 4.3 15.7E-03 3.2E-03
  042 Aya     9 2025-12-23 0.012 0.0104 2.68 6.39 0.0043 0.0066 4.64E-06 1.61E-06 4.44E-03 2.97E-03
  30 Rosa 0.0123 0.0122 2.9 7.6 5.9E-03 6.5E-03
  044 Luna 9 2023-12-14 0.011 0.0110 3.49 6.21 0.0066 0.0048 1.87E-06 2.49E-06 3.41E-03 3.94E-03
  31 Lea 0.0104 0.0105 3.6 5.5 6.0E-03 4.5E-03
  045 Malou 9 2023-12-14 0.012 0.0122 3.06 7.85 0.0038 0.0062 2.41E-03 3.02E-06 3.14E-03 3.14E-03
  32 Signe 0.0128 0.0120 3.0 7.8 5.1E-03 6.8E-03
  046 Esther 9 2023-12-14 0.011 0.0106 2.91 4.80 0.0058 0.0039 1.90E-06 2.37E-06 3.95E-03 4.03E-03
  33 Filippa 0.0097 0.0099 2.6 5.5 5.6E-03 4.3E-03
  047 Celina 9 2023-12-14 0.010 0.0106 2.87 6.87 0.0056 0.0057 1.97E-06 1.60E-06 3.86E-03 3.20E-03
  34 Julie 0.0114 0.0117 2.6 7.8 4.5E-03 8.7E-03
  049 Andrea 9 2023-12-16 0.010 0.0095 3.86 4.44 0.0117 0.0044 1.85E-06 2.90E-06 2.07E-03 3.91E-03
  36 Liv 0.0130 0.0126 2.8 5.2 4.1E-03 2.9E-03
  050 Silje 9 2023-12-16 0.010 0.0098 2.15 6.47 0.0036 0.0051 2.67E-06 1.32E-06 4.16E-03 2.71E-03
  37 Vigga 0.0110 0.0111 3.2 9.5 4.5E-03 26.6E-03
  052 Adriana 9 2025-02-11 0.009 0.0095 4.56 9.59 0.0083 0.0090 1.73E-06 1.60E-06 1.94E-03 1.70E-03
  38 Nanna 0.0105 0.0125 4.3 5.7 8.9E-03 4.4E-03
  053 Dicte 9 2023-12-16 0.013 0.0121 3.49 4.48 0.0147 0.0038 3.45E-06 3.31E-06 3.35E-03 4.60E-03
  39 Naja 0.0103 0.0104 3.7 6.1 6.7E-03 3.9E-03
  054 Silke 9 2023-12-16 0.011 0.0099 2.61 7.09 0.0055 0.0058 3.42E-06 1.96E-06 3.71E-03 2.84E-03
  40 Alba 0.0122 0.0124 2.9 4.4 3.0E-03 2.6E-03
  056 Gry     9 2023-12-16 0.010 0.0113 2.74 6.53 0.0044 0.0060 2.45E-06 1.81E-06 3.70E-03 3.30E-03
  42 Aya 0.0120 0.0104 2.7 6.4 4.3E-03 6.6E-03
  057 Tania 9 2023-12-16 0.010 0.0103 3.31 6.36 0.0068 0.0069 1.37E-06 1.41E-06 2.87E-03 3.15E-03
  44 Luna 0.0113 0.0110 3.5 6.2 6.6E-03 4.8E-03
  058 Susanne 9 2023-12-16 0.010 0.0099 3.42 7.26 0.0056 0.0066 1.89E-06 1.56E-06 2.73E-03 2.59E-03
  45 Malou 0.0122 0.0122 3.1 7.9 3.8E-03 6.2E-03
  061 Dagmar 9 2024-01-02 0.012 0.0116 3.18 5.62 0.0038 0.0033 1.81E-06 1.69E-06 3.07E-03 3.44E-03
  46 Esther 0.0110 0.0106 2.9 4.8 5.8E-03 3.9E-03
  064 Molly 9 2024-03-26 0.011 0.0113 4.89 4.40 0.0099 0.0039 1.79E-06 3.72E-06 2.19E-03 4.35E-03
  47 Celina 0.0105 0.0106 2.9 6.9 5.6E-03 5.7E-03
  065 Ingrid 9 2024-01-02 0.011 0.0117 2.02 3.59 0.0024 0.0020 1.55E-06 2.42E-06 4.45E-03 5.88E-03
  49 Andrea 0.0095 0.0095 3.9 4.4 11.7E-03 4.4E-03
  067 Nicoli 9 2024-01-02 0.010 0.0116 2.24 7.64 0.0043 0.0059 2.76E-06 1.54E-06 4.23E-03 2.92E-03
  50 Silje 0.0098 0.0098 2.2 6.5 3.6E-03 5.1E-03
  068 Tilde 9 2023-12-16 0.011 0.0110 2.21 4.03 0.0041 0.0071 2.26E-06 3.30E-06 4.52E-03 5.04E-03
  52 Adriana 0.0091 0.0095 4.6 9.6 8.3E-03 9.0E-03
  069 Europa 9 2024-01-02 0.010 0.0096 2.51 3.82 0.0048 0.0043 2.63E-06 2.62E-06 4.02E-03 4.86E-03
  53 Dicte 0.0127 0.0121 3.5 4.5 14.7E-03 3.8E-03
  070 Saga 9 2023-12-16 0.013 0.0127 2.50 5.44 0.0035 0.0037 4.35E-06 4.22E-06 4.35E-03 3.92E-03
  54 Silke 0.0107 0.0099 2.6 7.1 5.5E-03 5.8E-03
  072 Emilia 9 2025-12-07 0.010 0.0092 2.69 7.30 0.0039 0.0062 1.79E-06 1.87E-06 3.34E-03 2.37E-03
  56 Gry 0.0104 0.0113 2.7 6.5 4.4E-03 6.0E-03
  077 Alex 9 2024-01-02 0.012 0.0122 1.43 3.52 0.0016 0.0021 3.09E-06 2.62E-06 7.00E-03 8.08E-03
  57 Tania 0.0098 0.0103 3.3 6.4 6.8E-03 6.9E-03
  078 Melina 9 2024-01-02 0.012 0.0113 2.71 3.68 0.0032 0.0021 1.61E-06 8.00E-06 3.52E-03 5.13E-03
  58 Susanne 0.0096 0.0099 3.4 7.3 5.6E-03 6.6E-03
  079 Amanda 9 2023-12-17 0.018 0.0119 2.18 3.18 0.0060 0.0016 3.99E-06 2.30E-06 11.41E-03 6.26E-03
60 Birte 0.0100 0.0099 2.7 9.4 6.1E-03 7.0E-03
  080 Hannah 9 2024-01-02 0.011 0.0114 2.21 5.54 0.0020 0.0030 1.52E-06 1.24E-06 4.55E-03 3.54E-03
  61 Dagmar 0.0116 0.0116 3.2 5.6 3.8E-03 3.3E-03
  081 Jasmin 9 2024-01-02 0.012 0.0119 2.11 4.21 0.0021 0.0023 1.78E-06 1.86E-06 4.68E-03 5.02E-03
  64 Molly 0.0108 0.0113 4.9 4.4 9.9E-03 3.9E-03
084 Cleo 9 2024-01-02 0.011 0.0112 2.27 5.64 0.0020 0.0037 1.57E-06 1.19E-06 4.32E-03 3.25E-03
  65 Ingrid 0.0112 0.0117 2.0 3.6 2.4E-03 2.0E-03
  085 Solvej 9 2024-01-02 0.011 0.0114 3.10 6.09 0.0043 0.0039 1.07E-06 1.38E-06 3.23E-03 3.29E-03
67 Nicolin 0.0104 0.0116 2.2 7.6 4.3E-03 5.9E-03
  087 Ronja 9 2024-01-02 0.011 0.0114 2.52 5.96 0.0027 0.0032 1.76E-06 1.34E-06 4.19E-03 3.56E-03
  68 Tilde 0.0114 0.0110 2.2 4.0 4.1E-03 7.1E-03
  69 Europa 0.0105 0.0096 2.5 3.8 4.8E-03 4.3E-03
70 Saga 0.0128 0.0127 2.5 5.4 3.5E-03 3.7E-03
  72 Emilia 0.0100 0.0092 2.7 7.3 3.9E-03 6.2E-03
77 Alex 0.0118 0.0122 1.4 3.5 1.6E-03 2.1E-03
  78 Melina 0.0120 0.0113 2.7 3.7 3.2E-03 2.1E-03
  79 Amanda 0.0182 0.0119 2.2 3.2 6.0E-03 1.6E-03
  80 Hannah 0.0115 0.0114 2.2 5.5 2.0E-03 3.0E-03
  81 Jasmin 0.0117 0.0119 2.1 4.2 2.1E-03 2.3E-03
  84 Cleo 0.0111 0.0112 2.3 5.6 2.0E-03 3.7E-03
  85 Solvej 0.0114 0.0114 3.1 6.1 4.3E-03 3.9E-03
  87 Ronja 0.0111 0.0114 2.5 6.0 2.7E-03 3.2E-03
 
== Measured values (Friction and Inertia)==
 
These measurements were taken during maintenance in January 2026; not all values were recorded, but the list can serve as a guide when creating a simulated model of the robot.
 
Dynamic or viscous friction (D) is calculated in a steady state by comparing the velocities and the current difference between the two velocities. Dynamic friction can vary among motors; it depends, e.g., on the lubrication, temperature, and commutator condition. The estimate is further hampered by the poor current measurement.
 
The moment of inertia (J) is estimated from the time required to reach steady-state velocity.
The actual moment of inertia (J) will be equal across all motors with high accuracy. The variation in the estimate indicates a high measurement uncertainty.
 
 
  ID Name D-left  D-right J-left  J-right
  % (Nm/(rad/sec)) (Nm/(rad/sec)) (Kgm^2) (Kgm^2)
1 Emma 1.2E-06 815.7E-09 1.3E-03 861.8E-06
2 Sofia 1.4E-06 1.4E-06 1.3E-03 863.2E-06
3 Ida 913.7E-09 2.1E-06 1.1E-03 1.9E-03
8 Ella 8.5E-06 8.5E-06 4.3E-03 4.0E-03
10 Karla 2.9E-06 2.8E-06 1.4E-03 1.2E-03
18 Agnes 5.5E-06 5.5E-06 1.5E-03 1.3E-03
19 Lily 1.0E-06 1.1E-06 1.2E-03 1.6E-03
25 Emilie 883.4E-09 2.1E-06 960.7E-06 3.7E-03
30 Rosa 17.4E-06 3.2E-06 4.8E-03 3.3E-03
31 Lea 1.5E-06 1.7E-06 2.6E-03 3.6E-03
32 Signe 7.3E-06 4.1E-06 4.2E-03 3.6E-03
33 Filippa 2.6E-06 2.9E-06 3.4E-03 3.4E-03
34 Julie 2.5E-06 2.5E-06 4.7E-03 3.1E-03
36 Liv 4.0E-06 4.5E-06 3.9E-03 5.0E-03
37 Vigga 2.3E-06 1.3E-06 3.7E-03 2.5E-03
38 Nanna 1.3E-06 1.2E-06 2.5E-03 4.2E-03
39 Naja 1.2E-06 1.7E-06 2.6E-03 3.4E-03
40 Alba 4.3E-06 4.5E-06 3.8E-03 4.9E-03
42 Aya 4.6E-06 1.6E-06 4.4E-03 3.0E-03
44 Luna 1.9E-06 2.5E-06 3.4E-03 3.9E-03
45 Malou 2.4E-03 3.0E-06 3.1E-03 3.1E-03
46 Esther 1.9E-06 2.4E-06 4.0E-03 4.0E-03
47 Celina 2.0E-06 1.6E-06 3.9E-03 3.2E-03
49 Andrea 1.8E-06 2.9E-06 2.1E-03 3.9E-03
50 Silje 2.7E-06 1.3E-06 4.2E-03 2.7E-03
52 Adriana 1.7E-06 1.6E-06 1.9E-03 1.7E-03
53 Dicte 3.4E-06 3.3E-06 3.4E-03 4.6E-03
54 Silke 3.4E-06 2.0E-06 3.7E-03 2.8E-03
56 Gry 2.5E-06 1.8E-06 3.7E-03 3.3E-03
57 Tania 1.4E-06 1.4E-06 2.9E-03 3.1E-03
58 Susanne 1.9E-06 1.6E-06 2.7E-03 2.6E-03
60 Birte 780.2E-09 726.3E-09 3.4E-03 2.0E-03
61 Dagmar 1.8E-06 1.7E-06 3.1E-03 3.4E-03
64 Molly 1.8E-06 3.7E-06 2.2E-03 4.4E-03
65 Ingrid 1.5E-06 2.4E-06 4.5E-03 5.9E-03
67 Nicoline 2.8E-06 1.5E-06 4.2E-03 2.9E-03
68 Tilde 2.3E-06 3.3E-06 4.5E-03 5.0E-03
69 Europa 2.6E-06 2.6E-06 4.0E-03 4.9E-03
70 Saga 4.4E-06 4.2E-06 4.3E-03 3.9E-03
72 Emilia 1.8E-06 1.9E-06 3.3E-03 2.4E-03
77 Alex 3.1E-06 2.6E-06 7.0E-03 8.1E-03
78 Melina 1.6E-06 8.0E-06 3.5E-03 5.1E-03
79 Amanda 4.0E-06 2.3E-06 11.4E-03 6.3E-03
80 Hannah 1.5E-06 1.2E-06 4.6E-03 3.5E-03
81 Jasmin 1.8E-06 1.9E-06 4.7E-03 5.0E-03
84 Cleo 1.6E-06 1.2E-06 4.3E-03 3.3E-03
85 Solvej 1.1E-06 1.4E-06 3.2E-03 3.3E-03
87 Ronja 1.8E-06 1.3E-06 4.2E-03 3.6E-03

Latest revision as of 12:30, 8 January 2026

Back to Regbot

Motor parameters

The Regbot has a built-in estimator of motor parameters. This relies on a poorly designed motor current measurement and noisy velocity measurements.

These measurements can be repeated using the Regbot GUI. See User_interface#Motor_test. There is a tab called Wotor. Run the test a few times to get a sense of the variability in values. It can also be advantageous to warm up the motor lubrication by running a short mission before the test.

Measured values (Km, R, L)

These measurements were taken during maintenance in January 2026; not all values were recorded, but the list can serve as a guide when creating a simulated model of the robot.

The motor constant (Km) is estimated from the steady-state velocity, the input voltage, and the motor current and resistance. The uncertainty primarily arises from poor current measurement, but also from variation in the permanent magnet strength.

The motor resistance (R) is estimated from the peak current as the voltage is varied, and before the motor has changed velocity.

The inductance (L) is estimated from the time it takes to increase the current to steady-state and before the motor has changed velocity. The peak current is used as the steady-state. The current at two times is used to estimate the exponential rise in current, i.e., the time constant of the L/R circuit. The sample time used for these measurements is 0.3ms. This value may vary across motor generations but should be reasonably constant within them. The newer generation of motors typically has a motor constant (Km) of 0.012, where the older versions have a value closer to 0.01. Some motors appear to have a lower value; it could be due to a weaker permanent magnet. 


ID	Name		K-left	K-right	R-left	R-right	L-left  	L-right	
	        	(V/(rad/sec))	(Ohm)	(Ohm)	(Henry)  	(Henry)
 1	Emma		0.0094	0.0096	2.4	7.8	5.6E-03 	6.4E-03
 2	Sofia		0.0096	0.0095	2.8	8.3	4.7E-03 	7.0E-03
 3	Ida		0.0105	0.0102	3.4	4.0	7.8E-03 	3.6E-03
 8	Ella		0.0111	0.0111	2.2	5.2	3.8E-03 	3.7E-03
10	Karla		0.0128	0.0126	3.6	8.2	4.5E-03 	15.7E-03
18	Agnes		0.0118	0.0116	3.2	6.3	6.1E-03 	6.5E-03
19	Lily		0.0113	0.0110	3.5	4.8	4.9E-03 	4.0E-03
25	Emilie		0.0095	0.0090	8.8	4.3	15.7E-03	3.2E-03
30	Rosa		0.0123	0.0122	2.9	7.6	5.9E-03 	6.5E-03
31	Lea		0.0104	0.0105	3.6	5.5	6.0E-03 	4.5E-03
32	Signe		0.0128	0.0120	3.0	7.8	5.1E-03 	6.8E-03
33	Filippa		0.0097	0.0099	2.6	5.5	5.6E-03 	4.3E-03
34	Julie		0.0114	0.0117	2.6	7.8	4.5E-03 	8.7E-03
36	Liv		0.0130	0.0126	2.8	5.2	4.1E-03 	2.9E-03
37	Vigga		0.0110	0.0111	3.2	9.5	4.5E-03 	26.6E-03
38	Nanna		0.0105	0.0125	4.3	5.7	8.9E-03 	4.4E-03
39	Naja		0.0103	0.0104	3.7	6.1	6.7E-03 	3.9E-03
40	Alba		0.0122	0.0124	2.9	4.4	3.0E-03 	2.6E-03
42	Aya		0.0120	0.0104	2.7	6.4	4.3E-03 	6.6E-03
44	Luna		0.0113	0.0110	3.5	6.2	6.6E-03 	4.8E-03
45	Malou		0.0122	0.0122	3.1	7.9	3.8E-03 	6.2E-03
46	Esther		0.0110	0.0106	2.9	4.8	5.8E-03 	3.9E-03
47	Celina		0.0105	0.0106	2.9	6.9	5.6E-03 	5.7E-03
49	Andrea		0.0095	0.0095	3.9	4.4	11.7E-03	4.4E-03
50	Silje		0.0098	0.0098	2.2	6.5	3.6E-03 	5.1E-03
52	Adriana		0.0091	0.0095	4.6	9.6	8.3E-03 	9.0E-03
53	Dicte		0.0127	0.0121	3.5	4.5	14.7E-03	3.8E-03
54	Silke		0.0107	0.0099	2.6	7.1	5.5E-03 	5.8E-03
56	Gry		0.0104	0.0113	2.7	6.5	4.4E-03 	6.0E-03
57	Tania		0.0098	0.0103	3.3	6.4	6.8E-03 	6.9E-03
58	Susanne		0.0096	0.0099	3.4	7.3	5.6E-03 	6.6E-03
60	Birte		0.0100	0.0099	2.7	9.4	6.1E-03 	7.0E-03
61	Dagmar		0.0116	0.0116	3.2	5.6	3.8E-03 	3.3E-03
64	Molly		0.0108	0.0113	4.9	4.4	9.9E-03 	3.9E-03
65	Ingrid		0.0112	0.0117	2.0	3.6	2.4E-03 	2.0E-03
67	Nicolin		0.0104	0.0116	2.2	7.6	4.3E-03 	5.9E-03
68	Tilde		0.0114	0.0110	2.2	4.0	4.1E-03 	7.1E-03
69	Europa		0.0105	0.0096	2.5	3.8	4.8E-03 	4.3E-03
70	Saga		0.0128	0.0127	2.5	5.4	3.5E-03 	3.7E-03
72	Emilia		0.0100	0.0092	2.7	7.3	3.9E-03 	6.2E-03
77	Alex		0.0118	0.0122	1.4	3.5	1.6E-03 	2.1E-03
78	Melina		0.0120	0.0113	2.7	3.7	3.2E-03 	2.1E-03
79	Amanda		0.0182	0.0119	2.2	3.2	6.0E-03 	1.6E-03
80	Hannah		0.0115	0.0114	2.2	5.5	2.0E-03 	3.0E-03
81	Jasmin		0.0117	0.0119	2.1	4.2	2.1E-03 	2.3E-03
84	Cleo		0.0111	0.0112	2.3	5.6	2.0E-03 	3.7E-03
85	Solvej		0.0114	0.0114	3.1	6.1	4.3E-03 	3.9E-03
87	Ronja		0.0111	0.0114	2.5	6.0	2.7E-03 	3.2E-03

Measured values (Friction and Inertia)

These measurements were taken during maintenance in January 2026; not all values were recorded, but the list can serve as a guide when creating a simulated model of the robot.

Dynamic or viscous friction (D) is calculated in a steady state by comparing the velocities and the current difference between the two velocities. Dynamic friction can vary among motors; it depends, e.g., on the lubrication, temperature, and commutator condition. The estimate is further hampered by the poor current measurement.

The moment of inertia (J) is estimated from the time required to reach steady-state velocity. The actual moment of inertia (J) will be equal across all motors with high accuracy. The variation in the estimate indicates a high measurement uncertainty. 


ID	Name		D-left  	D-right 	J-left  	J-right	
%			(Nm/(rad/sec))	(Nm/(rad/sec))	(Kgm^2) 	(Kgm^2)
1	Emma		1.2E-06 	815.7E-09	1.3E-03 	861.8E-06
2	Sofia		1.4E-06 	1.4E-06 	1.3E-03 	863.2E-06
3	Ida		913.7E-09	2.1E-06 	1.1E-03 	1.9E-03
8	Ella		8.5E-06 	8.5E-06 	4.3E-03 	4.0E-03
10	Karla		2.9E-06 	2.8E-06 	1.4E-03 	1.2E-03
18	Agnes		5.5E-06 	5.5E-06 	1.5E-03 	1.3E-03
19	Lily		1.0E-06 	1.1E-06 	1.2E-03 	1.6E-03
25	Emilie		883.4E-09	2.1E-06 	960.7E-06	3.7E-03
30	Rosa		17.4E-06	3.2E-06 	4.8E-03 	3.3E-03
31	Lea		1.5E-06 	1.7E-06 	2.6E-03 	3.6E-03
32	Signe		7.3E-06 	4.1E-06 	4.2E-03 	3.6E-03
33	Filippa		2.6E-06 	2.9E-06 	3.4E-03 	3.4E-03
34	Julie		2.5E-06 	2.5E-06 	4.7E-03 	3.1E-03
36	Liv		4.0E-06 	4.5E-06 	3.9E-03 	5.0E-03
37	Vigga		2.3E-06 	1.3E-06 	3.7E-03 	2.5E-03
38	Nanna		1.3E-06 	1.2E-06 	2.5E-03 	4.2E-03
39	Naja		1.2E-06 	1.7E-06 	2.6E-03 	3.4E-03
40	Alba		4.3E-06 	4.5E-06 	3.8E-03 	4.9E-03
42	Aya		4.6E-06 	1.6E-06 	4.4E-03 	3.0E-03
44	Luna		1.9E-06 	2.5E-06 	3.4E-03 	3.9E-03
45	Malou		2.4E-03 	3.0E-06 	3.1E-03 	3.1E-03
46	Esther		1.9E-06 	2.4E-06 	4.0E-03 	4.0E-03
47	Celina		2.0E-06 	1.6E-06 	3.9E-03 	3.2E-03
49	Andrea		1.8E-06 	2.9E-06 	2.1E-03 	3.9E-03
50	Silje		2.7E-06 	1.3E-06 	4.2E-03 	2.7E-03
52	Adriana		1.7E-06 	1.6E-06 	1.9E-03 	1.7E-03
53	Dicte		3.4E-06 	3.3E-06 	3.4E-03 	4.6E-03
54	Silke		3.4E-06 	2.0E-06 	3.7E-03 	2.8E-03
56	Gry		2.5E-06 	1.8E-06 	3.7E-03 	3.3E-03
57	Tania		1.4E-06 	1.4E-06 	2.9E-03 	3.1E-03
58	Susanne		1.9E-06 	1.6E-06 	2.7E-03 	2.6E-03
60	Birte		780.2E-09	726.3E-09	3.4E-03 	2.0E-03
61	Dagmar		1.8E-06 	1.7E-06 	3.1E-03 	3.4E-03
64	Molly		1.8E-06 	3.7E-06 	2.2E-03 	4.4E-03
65	Ingrid		1.5E-06 	2.4E-06 	4.5E-03 	5.9E-03
67	Nicoline	2.8E-06 	1.5E-06 	4.2E-03 	2.9E-03
68	Tilde		2.3E-06 	3.3E-06 	4.5E-03 	5.0E-03
69	Europa		2.6E-06 	2.6E-06 	4.0E-03 	4.9E-03
70	Saga		4.4E-06 	4.2E-06 	4.3E-03 	3.9E-03
72	Emilia		1.8E-06 	1.9E-06 	3.3E-03 	2.4E-03
77	Alex		3.1E-06 	2.6E-06 	7.0E-03 	8.1E-03
78	Melina		1.6E-06 	8.0E-06 	3.5E-03 	5.1E-03
79	Amanda		4.0E-06 	2.3E-06 	11.4E-03	6.3E-03
80	Hannah		1.5E-06 	1.2E-06 	4.6E-03 	3.5E-03
81	Jasmin		1.8E-06 	1.9E-06 	4.7E-03 	5.0E-03
84	Cleo		1.6E-06 	1.2E-06 	4.3E-03 	3.3E-03
85	Solvej		1.1E-06 	1.4E-06 	3.2E-03 	3.3E-03
87	Ronja		1.8E-06 	1.3E-06 	4.2E-03 	3.6E-03
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