| Inputs: |
| velocity = [;;;] // vector of velocity values, deg/s |
| // motor temperature, °C |
| // control torque, Nm |
| Temp_max = // temperature parameter, °C |
| // joint angular position, deg/s |
| Outputs: |
| joint angular velocity, deg/s |
| // control torque until mowing clockwise, |
| // control torque until mowing counterclockwise, |
| // friction torque, |
| // load torque, |
| // motor temperature, °C |
| // CYCLE OF CHANGING VELOCITY VALUES IN JOINT HEATING-UP MODE |
| while < 65°C |
| // Cycle of changing velocity values |
| for i = 1 to 4 step 1 |
| = velocity[i] // assigning the velocity value for the robot joint velocity |
| Moving to = 180.0 // joint clockwise motion |
| // assigning until mowing clockwise |
| Moving to = 0.0 // joint counterclockwise motion |
| // assigning until mowing counterclockwise |
| and calculating by eq. (8) |
| data measuring |
| end for |
| Temp_max = Temp_max + 1 // changing temperature parameter to °C up |
| // Heating-up cycle by °C making intensive motions at maximum velocity |
| while < Temp_max |
| = // assigning the velocity maximum value for the robot joint velocity |
| Moving to = 180.0 // joint clockwise motion |
| Moving to = 0.0 // joint counterclockwise motion |
| end while |
| end while |
| // CYCLE OF CHANGING VELOCITY VALUES IN JOINT COOLING-DOWN MODE |
| while > 25°C |
| // Cycle of changing velocity values |
| for i = 1 to 4 step 1 |
| = velocity[i] // assigning the velocity value for the robot joint velocity |
| Moving to = 180.0 // joint clockwise motion |
| // assigning until mowing clockwise |
| Moving to = 0.0 // joint counterclockwise motion |
| // assigning until mowing counterclockwise |
| and calculating by eq. (8) |
| data measuring |
| end for |
| Temp_max = Temp_max – 1 // changing temperature parameter to °C down |
| wait for ( <= Temp_max) // waiting for natural cooling to °C down |
| end while |
