Towards a Dynamic Actuator Model for a Hexapod Robot

Abstract

We describe a model predicting the output torque of the battery-amplifier-actuator-gear combination used on the hexapod robot RHex, based on requested PWM (Pulse-Width-Modulation) duty cycle to the amplifier, battery voltage, and motor speed. The model is broken into independent components, each experimentally validated: power source (battery), motor amplifier, motor, and (planetary) gear. The resulting aggregate model shows 6% Full Scale RMS error in predicting output torque in the first quadrant of operation (positive torques). Understanding the key ingredients and the attainable accuracies of torque production models in our commonly used battery-amplifier-actuator-gear combinations is critical for mobile robots, in order to minimize sensing, and thus space, size, weight, power consumption, failure rate, and cost of mobile robots.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2005
Accession Number
ADA438822

Entities

People

  • Chris Prahacs
  • Dave Mcmordie
  • Martin Buehler

Tags

Communities of Interest

  • Energy and Power Technologies
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Abstracts
  • Accuracy
  • Actuators
  • Amplifiers
  • Circuits
  • Efficiency
  • Errors
  • Frequency
  • Load Cells
  • Measurement
  • Permanent Magnets
  • Planetary Gears
  • Power Supplies
  • Quadrants
  • Resistance
  • Switched Mode Power Supplies
  • Terminals

Readers

  • Computational Modeling and Simulation
  • Electrical Engineering
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers