Regbot motor parameters
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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
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 actual lubrication, temperature, and the state of the commutator. 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 estimate indicates a high measurement uncirtancy.
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
