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Table 1 Parameters of the robot and motor [13]

From: Energy-efficient control of a screw-drive pipe robot with consideration of actuator’s characteristics

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
\