
Symbol  Quantity  Value 

 Armature resistance  2.6 
 Motor backEMF constant  0.00767 
 Motor torque constant  0.00767 
 Total arm inertia  0.0035 
 Equivalent inertia  0.0026 
 High gear ratio  14:5 
 Joint stiffness  1.2485 
 Equivalent viscous damping  0.004 
 Gearbox efficiency  0.9 
 Motor efficiency  0.69 
