OmniWheelTorqueDrive Struct Reference

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	maxWheelVelocity {std::numeric_limits<float>::infinity()}
	Measured wheel speed limit [rad/s].
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 105 of file TrajectoryFollowingSimulation.h.

Member Data Documentation

gearboxEfficiency

float gearboxEfficiency {1.F}

Ignored losses are modelled as 1.0, i.e. optimistic.

Definition at line 128 of file TrajectoryFollowingSimulation.h.

gearboxMaxInputSpeedRpm

float gearboxMaxInputSpeedRpm {6000.F}

Gearbox continuous input speed [rpm]. Binds before the motor on ARMAR-7.

Definition at line 120 of file TrajectoryFollowingSimulation.h.

gearRatio

float gearRatio {16.F}

Motor revolutions per wheel revolution. 65536 counts/wheel-rev / 4096 counts/motor-rev.

Definition at line 108 of file TrajectoryFollowingSimulation.h.

maxWheelVelocity

float maxWheelVelocity {std::numeric_limits<float>::infinity()}

Measured wheel speed limit [rad/s].

Where finite, it supersedes the rating above (min(motorNominalSpeedRpm, gearboxMaxInputSpeedRpm) / gearRatio), as in LoadDriveParams.

Definition at line 125 of file TrajectoryFollowingSimulation.h.

motorMaxTorque

float motorMaxTorque {0.437F}

Torque bound per motor [N m]. Default is the 7.0 A MaxCurrent cap x 62.4 mNm/A.

Definition at line 111 of file TrajectoryFollowingSimulation.h.

motorNominalSpeedRpm

float motorNominalSpeedRpm {6260.F}

Continuous motor speed [rpm], IDX 56 M at 48 V.

Definition at line 117 of file TrajectoryFollowingSimulation.h.

motorRatedTorque

float motorRatedTorque {0.458F}

Torque at RatedCurrent (7.34 A x 62.4 mNm/A) [N m]. Recorded for reference.

Definition at line 114 of file TrajectoryFollowingSimulation.h.

robot

PlatformInertia::Parameters robot

Definition at line 130 of file TrajectoryFollowingSimulation.h.

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The documentation for this struct was generated from the following file:

• armarx/navigation/simulation/TrajectoryFollowingSimulation.h