Chapter 2 Actuators and Drive Systems - MIT …
Introduction to Robotics, H. Harry Asada 2 power. Let E be the voltage applied to the idealized transducer. The electric power is then given by E⋅i, which must be equivalent to the mechanical power: Pin =E⋅i =τm ⋅ωm (2.1.2) where ωm is the angular velocity of the motor rotor. Substituting eq.(1) into eq.(2) and dividing both sides by i yield the second fundamental relationship of a DC ...
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