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 | — |
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