Regbot motor parameters: Difference between revisions
From Rsewiki
| Line 7: | Line 7: | ||
== 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 saved, but the list can be used as a guide, when creating a simulated model of the robot. | ||
Revision as of 11:42, 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 (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.
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
