Table 1 Parameters of the robot and motor [13]
Parameter | Value | Parameter | Value |
|---|---|---|---|
P | 20 W (rated) | D | 0.19 m |
\({K_{\mathrm{t}}}\) | 0.0170 N m/A | \(\alpha\) | 15° |
\({K_{\mathrm{e}}}\) | 0.0170 V s/rad | \({T_{\mathrm{load}}}\) | 0.3 N m |
\({R_{\mathrm{a}}}\) | 1.17 Ω | \({J_{\mathrm{eq}}}\) | \(4\times {10^{-5}}\,\mathrm{kg}\,\mathrm{m}^2\) |
\({R_{\mathrm{h}}}\) | 212.6 Ω | \(_{\mathrm{total}}\) | 111 |
\(30{\omega _{\mathrm{m,r}}}/\pi\) | 6000 rpm | \({c_{\mathrm{m}}}\) | \(2\times {10^{- 5}}\) N m s/rad |