Research Article
Implementation of a Fuzzy TSK Controller for a Flexible Joint Robot
Table 2
Compact DC motor and gearbox set properties.
| | Parameters | Nominal values | Tolerance |
| | Coil resistance | r = 9 ohm | 4% | | Coil inductance | l = 0.1 H | 5% | | Torque const. |
= 3.3 | 3% | | Back emf const. |
= 5.62 | 3% | | Gearbox ratio | | — | | Motor inertia | | 3% | | Operating Max. Voltage | | — | | Max. armature current | =4 A | — |
|
|
