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stack-of-tasks / sot-torque-control

Collection of dynamic-graph entities aimed at implementing torque control on different robots.
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Motor thermal model #25

Open andreadelprete opened 7 years ago

andreadelprete commented 7 years ago

We need a model for the motor temperature to avoid burning the motors. At the moment we are setting a limit on the motor currents that is very low. While this prevents us from burning the motors, it's very limiting in terms of performance. We should measure the motor temperatures during an experiment and use the collected data to identify a thermal model that relates the current to the temperature.

andreadelprete commented 7 years ago

This could be an interesting source of information for identifying the motor thermal model: https://www.gegridsolutions.com/multilin/family/motors/Motor_Thermal_Model.pdf