Regbot motor parameters: Difference between revisions

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(Created page with "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. == Measured values == 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.")
 
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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 saved, but the list can be used 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)
ID Name HW type date K-left K-right R-left R-right L-left L-right D_left D_right Inertia Left 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
002 Sofia 9 2025-12-23 0.010 0.0095 2.80 8.28 0.0047 0.0070 1.38E-06 1.36E-06 1.27E-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 1.11E-03 1.88E-03
008 Ella 9 2023-12-12 0.011 0.0111 2.18 5.24 0.0038 0.0037 8.45E-06 8.52E-06 4.34E-03 4.02E-03
010 Karla 9 2025-12-28 0.013 0.0126 3.62 8.16 0.0045 0.0157 2.91E-06 2.78E-06 1.38E-03 1.18E-03
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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

Revision as of 11:26, 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.


Measured values

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. 

%			(YY-MM-DD)	(V/(rad/sec))	(V/(rad/sec))	(Ohm)	(Ohm)	(Henry)	(Henry)	(Nm/(rad/sec))	(Nm/(rad/sec))	(Kgm^2)	(Kgm^2)
ID	Name	HW type	date	K-left	K-right	R-left	R-right	L-left	L-right	D_left	D_right	Inertia Left	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
002	Sofia	9	2025-12-23	0.010	0.0095	2.80	8.28	0.0047	0.0070	1.38E-06	1.36E-06	1.27E-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	1.11E-03	1.88E-03
008	Ella	9	2023-12-12	0.011	0.0111	2.18	5.24	0.0038	0.0037	8.45E-06	8.52E-06	4.34E-03	4.02E-03
010	Karla	9	2025-12-28	0.013	0.0126	3.62	8.16	0.0045	0.0157	2.91E-06	2.78E-06	1.38E-03	1.18E-03
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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
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