Trying to simulate controls for a linearised two-arm robotic arm and I have some issues
I'm using two DC motors, one at each actuator
I am using two inputs, each one is a voltage input to one of the motors - v1, v2
Two outputs, each one the angle of elevation of one of the arms - θ1, θ2
I've calculated necessary torques
I've gotten a non-linear equation relating the input voltages and output angles
I've linearised the equation and have g(s) = θ(s)/v(s)
How do i get the parameters necessary to simulate?
I need possible values for arm length, arm mass, Torque constant e.t.c for each arm in an ideal robotic arm
also possible DC motor values for resistance, armature current, induction constant, inductance as would be used in a robot arm
I'm using two DC motors, one at each actuator
I am using two inputs, each one is a voltage input to one of the motors - v1, v2
Two outputs, each one the angle of elevation of one of the arms - θ1, θ2
I've calculated necessary torques
I've gotten a non-linear equation relating the input voltages and output angles
I've linearised the equation and have g(s) = θ(s)/v(s)
How do i get the parameters necessary to simulate?
I need possible values for arm length, arm mass, Torque constant e.t.c for each arm in an ideal robotic arm
also possible DC motor values for resistance, armature current, induction constant, inductance as would be used in a robot arm