About this lab
Plan a move with a trapezoidal or S-curve profile, then see the torque, current and power a real motor must supply, and whether it can.
Ideas covered: motion profile, trapezoid, S-curve, F = ma, torque, power, current.
Common questions
- Why use a trapezoidal velocity profile?
- It limits acceleration, so the motor torque stays bounded: accelerate at a constant rate, cruise at the maximum speed, then decelerate. A step in position would demand infinite acceleration.
- How do I size a motor for a wheeled robot?
- Find the peak force (mass × acceleration + rolling and slope resistance), multiply by wheel radius and divide by motors and gearing for torque per motor, then keep the peak under about 70% of stall torque.