%% Motor % Resistance Rm = 8.4; % Current-torque (N-m/A) kt = 0.042; % Back-emf constant (V-s/rad) km = 0.042; % %% Rotary Arm % Mass (kg) mr = 0.095; % Total length (m) r = 0.085; % Moment of inertia about pivot (kg-m^2) Jr = mr*r^2/3; % Equivalent Viscous Damping Coefficient (N-m-s/rad) br = 1e-3; % damping tuned heuristically to match QUBE-Sero 2 response % %% Pendulum Link % Mass (kg) mp = 0.024; % Total length (m) Lp = 0.129; % Pendulum center of mass (m) l = Lp/2; % Moment of inertia about pivot (kg-m^2) Jp = mp*Lp^2/3; % Equivalent Viscous Damping Coefficient (N-m-s/rad) bp = 5e-5; % damping tuned heuristically to match QUBE-Sero 2 response % Gravity Constant g = 9.81;