How can I obtain the torque in an operating Dynamixel?

Technical Support
1

Issue:

I understand that the current value can be obtained from the motor, but how should the torque be calculated? Since torque varies with angular velocity and angular acceleration, calculating it solely from the current seems difficult. How should this be done?

DYNAMIXEL Servo:

XM540, XM430

DYNAMIXEL Controller:

OpenCR

Software Interface:

arduino library

3

Jang,

You can estimate torque using the following formula -

τ = Kt × I
[Torque = (Stall Torque / Current Limit) x (Present Current x Current Limit Unit)]

4

You can also try to fit a linear function to your particular actuator using the graphs that ROBOTIS provides for each particular actuator from the e-manual. See this link

1 Like
5

Thanks to both of you. If I get stuck while trying it out, I’ll come back and ask questions again.