Regbot motor parameters: Difference between revisions

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  % (YY-MM-DD) (V/(rad/sec)) (V/(rad/sec)) (Ohm) (Ohm) (Henry) (Henry) (Nm/(rad/sec)) (Nm/(rad/sec)) (Kgm^2) (Kgm^2)
  % (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 eft Inertia Right
  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
   
  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
% (V/(rad/sec)) (V/(rad/sec)) (Ohm) (Ohm) (Henry) (Henry)
  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
ID Name HW type K-left K-right R-left R-right L-left L-right
  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
1 Emma 9 0.0094 0.0096 2.4 7.8 5.6E-03 6.4E-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 .38E-03 1.18E-03
  2 Sofia 9 0.0096 0.0095 2.8 8.3 4.7E-03 7.0E-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
  3 Ida 9 0.0105 0.0102 3.4 4.0 7.8E-03 3.6E-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
  8 Ella 9 0.0111 0.0111 2.2 5.2 3.8E-03 3.7E-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
  10 Karla 9 0.0128 0.0126 3.6 8.2 4.5E-03 15.7E-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
  18 Agnes 9 0.0118 0.0116 3.2 6.3 6.1E-03 6.5E-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
  19 Lily 9 0.0113 0.0110 3.5 4.8 4.9E-03 4.0E-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
  25 Emilie 9 0.0095 0.0090 8.8 4.3 15.7E-03 3.2E-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
  30 Rosa 9 0.0123 0.0122 2.9 7.6 5.9E-03 6.5E-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
  31 Lea 9 0.0104 0.0105 3.6 5.5 6.0E-03 4.5E-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
  32 Signe 9 0.0128 0.0120 3.0 7.8 5.1E-03 6.8E-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
  33 Filippa 9 0.0097 0.0099 2.6 5.5 5.6E-03 4.3E-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
  34 Julie 9 0.0114 0.0117 2.6 7.8 4.5E-03 8.7E-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
  36 Liv 9 0.0130 0.0126 2.8 5.2 4.1E-03 2.9E-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
  37 Vigga 9 0.0110 0.0111 3.2 9.5 4.5E-03 26.6E-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
  38 Nanna 9 0.0105 0.0125 4.3 5.7 8.9E-03 4.4E-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
  39 Naja 9 0.0103 0.0104 3.7 6.1 6.7E-03 3.9E-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
  40 Alba 9 0.0122 0.0124 2.9 4.4 3.0E-03 2.6E-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
  42 Aya 9 0.0120 0.0104 2.7 6.4 4.3E-03 6.6E-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
  44 Luna 9 0.0113 0.0110 3.5 6.2 6.6E-03 4.8E-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
  45 Malou 9 0.0122 0.0122 3.1 7.9 3.8E-03 6.2E-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
  46 Esther 9 0.0110 0.0106 2.9 4.8 5.8E-03 3.9E-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
  47 Celina 9 0.0105 0.0106 2.9 6.9 5.6E-03 5.7E-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
  49 Andrea 9 0.0095 0.0095 3.9 4.4 11.7E-03 4.4E-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
  50 Silje 9 0.0098 0.0098 2.2 6.5 3.6E-03 5.1E-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
  52 Adriana 9 0.0091 0.0095 4.6 9.6 8.3E-03 9.0E-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
  53 Dicte 9 0.0127 0.0121 3.5 4.5 14.7E-03 3.8E-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
  54 Silke 9 0.0107 0.0099 2.6 7.1 5.5E-03 5.8E-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
  56 Gry 9 0.0104 0.0113 2.7 6.5 4.4E-03 6.0E-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
  57 Tania 9 0.0098 0.0103 3.3 6.4 6.8E-03 6.9E-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
  58 Susanne 9 0.0096 0.0099 3.4 7.3 5.6E-03 6.6E-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
60 Birte 9 0.0100 0.0099 2.7 9.4 6.1E-03 7.0E-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
  61 Dagmar 9 0.0116 0.0116 3.2 5.6 3.8E-03 3.3E-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
  64 Molly 9 0.0108 0.0113 4.9 4.4 9.9E-03 3.9E-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
  65 Ingrid 9 0.0112 0.0117 2.0 3.6 2.4E-03 2.0E-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
  67 Nicoline 9 0.0104 0.0116 2.2 7.6 4.3E-03 5.9E-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
  68 Tilde 9 0.0114 0.0110 2.2 4.0 4.1E-03 7.1E-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
  69 Europa 9 0.0105 0.0096 2.5 3.8 4.8E-03 4.3E-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
  70 Saga 9 0.0128 0.0127 2.5 5.4 3.5E-03 3.7E-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
  72 Emilia 9 0.0100 0.0092 2.7 7.3 3.9E-03 6.2E-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
  77 Alex 9 0.0118 0.0122 1.4 3.5 1.6E-03 2.1E-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
  78 Melina 9 0.0120 0.0113 2.7 3.7 3.2E-03 2.1E-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
  79 Amanda 9 0.0182 0.0119 2.2 3.2 6.0E-03 1.6E-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
  80 Hannah 9 0.0115 0.0114 2.2 5.5 2.0E-03 3.0E-03
  81 Jasmin 9 0.0117 0.0119 2.1 4.2 2.1E-03 2.3E-03
  84 Cleo 9 0.0111 0.0112 2.3 5.6 2.0E-03 3.7E-03
  85 Solvej 9 0.0114 0.0114 3.1 6.1 4.3E-03 3.9E-03
  87 Ronja 9 0.0111 0.0114 2.5 6.0 2.7E-03 3.2E-03

Revision as of 11:35, 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 eft	Inertia Right

%			(V/(rad/sec))	(V/(rad/sec))	(Ohm)	(Ohm)	(Henry)	(Henry)
ID	Name	HW type	K-left	K-right	R-left	R-right	L-left	L-right
1	Emma	9	0.0094	0.0096	2.4	7.8	5.6E-03	6.4E-03
2	Sofia	9	0.0096	0.0095	2.8	8.3	4.7E-03	7.0E-03
3	Ida	9	0.0105	0.0102	3.4	4.0	7.8E-03	3.6E-03
8	Ella	9	0.0111	0.0111	2.2	5.2	3.8E-03	3.7E-03
10	Karla	9	0.0128	0.0126	3.6	8.2	4.5E-03	15.7E-03
18	Agnes	9	0.0118	0.0116	3.2	6.3	6.1E-03	6.5E-03
19	Lily	9	0.0113	0.0110	3.5	4.8	4.9E-03	4.0E-03
25	Emilie	9	0.0095	0.0090	8.8	4.3	15.7E-03	3.2E-03
30	Rosa	9	0.0123	0.0122	2.9	7.6	5.9E-03	6.5E-03
31	Lea	9	0.0104	0.0105	3.6	5.5	6.0E-03	4.5E-03
32	Signe	9	0.0128	0.0120	3.0	7.8	5.1E-03	6.8E-03
33	Filippa	9	0.0097	0.0099	2.6	5.5	5.6E-03	4.3E-03
34	Julie	9	0.0114	0.0117	2.6	7.8	4.5E-03	8.7E-03
36	Liv	9	0.0130	0.0126	2.8	5.2	4.1E-03	2.9E-03
37	Vigga	9	0.0110	0.0111	3.2	9.5	4.5E-03	26.6E-03
38	Nanna	9	0.0105	0.0125	4.3	5.7	8.9E-03	4.4E-03
39	Naja	9	0.0103	0.0104	3.7	6.1	6.7E-03	3.9E-03
40	Alba	9	0.0122	0.0124	2.9	4.4	3.0E-03	2.6E-03
42	Aya	9	0.0120	0.0104	2.7	6.4	4.3E-03	6.6E-03
44	Luna	9	0.0113	0.0110	3.5	6.2	6.6E-03	4.8E-03
45	Malou	9	0.0122	0.0122	3.1	7.9	3.8E-03	6.2E-03
46	Esther	9	0.0110	0.0106	2.9	4.8	5.8E-03	3.9E-03
47	Celina	9	0.0105	0.0106	2.9	6.9	5.6E-03	5.7E-03
49	Andrea	9	0.0095	0.0095	3.9	4.4	11.7E-03	4.4E-03
50	Silje	9	0.0098	0.0098	2.2	6.5	3.6E-03	5.1E-03
52	Adriana	9	0.0091	0.0095	4.6	9.6	8.3E-03	9.0E-03
53	Dicte	9	0.0127	0.0121	3.5	4.5	14.7E-03	3.8E-03
54	Silke	9	0.0107	0.0099	2.6	7.1	5.5E-03	5.8E-03
56	Gry	9	0.0104	0.0113	2.7	6.5	4.4E-03	6.0E-03
57	Tania	9	0.0098	0.0103	3.3	6.4	6.8E-03	6.9E-03
58	Susanne	9	0.0096	0.0099	3.4	7.3	5.6E-03	6.6E-03
60	Birte	9	0.0100	0.0099	2.7	9.4	6.1E-03	7.0E-03
61	Dagmar	9	0.0116	0.0116	3.2	5.6	3.8E-03	3.3E-03
64	Molly	9	0.0108	0.0113	4.9	4.4	9.9E-03	3.9E-03
65	Ingrid	9	0.0112	0.0117	2.0	3.6	2.4E-03	2.0E-03
67	Nicoline	9	0.0104	0.0116	2.2	7.6	4.3E-03	5.9E-03
68	Tilde	9	0.0114	0.0110	2.2	4.0	4.1E-03	7.1E-03
69	Europa	9	0.0105	0.0096	2.5	3.8	4.8E-03	4.3E-03
70	Saga	9	0.0128	0.0127	2.5	5.4	3.5E-03	3.7E-03
72	Emilia	9	0.0100	0.0092	2.7	7.3	3.9E-03	6.2E-03
77	Alex	9	0.0118	0.0122	1.4	3.5	1.6E-03	2.1E-03
78	Melina	9	0.0120	0.0113	2.7	3.7	3.2E-03	2.1E-03
79	Amanda	9	0.0182	0.0119	2.2	3.2	6.0E-03	1.6E-03
80	Hannah	9	0.0115	0.0114	2.2	5.5	2.0E-03	3.0E-03
81	Jasmin	9	0.0117	0.0119	2.1	4.2	2.1E-03	2.3E-03
84	Cleo	9	0.0111	0.0112	2.3	5.6	2.0E-03	3.7E-03
85	Solvej	9	0.0114	0.0114	3.1	6.1	4.3E-03	3.9E-03
87	Ronja	9	0.0111	0.0114	2.5	6.0	2.7E-03	3.2E-03
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