What the ARMAR-7 drive train can actually deliver. More...

#include <armarx/navigation/simulation/TrajectoryFollowingSimulation.h>

Public Attributes
float	gearboxEfficiency {1.F}
	Ignored losses are modelled as 1.0, i.e. optimistic.

float	gearboxMaxInputSpeedRpm {6000.F}
	Gearbox continuous input speed [rpm]. Binds before the motor on ARMAR-7.

float	gearRatio {16.F}
	Motor revolutions per wheel revolution. 65536 counts/wheel-rev / 4096 counts/motor-rev.

float	motorMaxTorque {0.437F}
	Torque bound per motor [N m]. Default is the 7.0 A `MaxCurrent` cap x 62.4 mNm/A.

float	motorNominalSpeedRpm {6260.F}
	Continuous motor speed [rpm], IDX 56 M at 48 V.

float	motorRatedTorque {0.458F}
	Torque at `RatedCurrent` (7.34 A x 62.4 mNm/A) [N m]. Recorded for reference.

PlatformInertia::Parameters	robot

Detailed Description

What the ARMAR-7 drive train can actually deliver.

Motor: Maxon IDX 56 M, 48 V winding. Gearbox: Maxon GPX 52, 16:1. See data/armarx_navigation/config/platform/README.md for the full derivation of every number here.

Geometry is not repeated: the torque model reuses OmniWheelDrive::kinematics.

Definition at line 104 of file TrajectoryFollowingSimulation.h.