Regbot motor parameters: Difference between revisions

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  (YY-MM-DD) (V/(rad/sec)) (V/(rad/sec)) (Ohm) (Ohm) (Henry) (Henry)
  (YY-MM-DD) (V/(rad/sec)) (V/(rad/sec)) (Ohm) (Ohm) (Henry) (Henry)
  ID Name HW type date K-left K-right R-left R-right L-left L-right
  ID Name 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
  1 Emma 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
  2 Sofia 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
  3 Ida 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
  8 Ella 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
  10 Karla 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
  18 Agnes 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
  19 Lily 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
  25 Emilie 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
  30 Rosa 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
  31 Lea 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
  32 Signe 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
  33 Filippa 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
  34 Julie 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
  36 Liv 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
  37 Vigga 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
  38 Nanna 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
  39 Naja 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
  40 Alba 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
  42 Aya 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
  44 Luna 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
  45 Malou 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
  46 Esther 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
  47 Celina 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
  49 Andrea 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
  50 Silje 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
  52 Adriana 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
  53 Dicte 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
  54 Silke 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
  56 Gry 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
  57 Tania 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
  58 Susanne 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
  60 Birte 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
  61 Dagmar 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
  64 Molly 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
  65 Ingrid 0.0112 0.0117 2.0 3.6 2.4E-03 2.0E-03
  67 Nicolin 9 0.0104 0.0116 2.2 7.6 4.3E-03 5.9E-03
  67 Nicolin 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
  68 Tilde 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
  69 Europa 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
  70 Saga 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
  72 Emilia 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
  77 Alex 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
  78 Melina 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
  79 Amanda 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
  80 Hannah 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
  81 Jasmin 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
  84 Cleo 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
  85 Solvej 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
  87 Ronja 0.0111 0.0114 2.5 6.0 2.7E-03 3.2E-03

Revision as of 11:38, 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)
ID	Name		K-left	K-right	R-left	R-right	L-left	L-right	

 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
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