Digital servo model for simulations

[nimitkumarsingh]

Dear friends,

I want to choose the right servo for my humanoid robot. For that I have picked RS1270 tentatively and made a CAD model.
robotshop.com/en/roboard-rs- … motor.html

A few queries:

1. How can I go about verifying it using simulations?
   P.S.:Im using VREP for the simulations.
2. How can I determine the current consumed by each servo at each time instant?
3. What is the governing matematical model for a digital servo

I’m tired of searching on web. Any help would be very grateful. Thnx in advance

[cbenson]

1. How can I go about verifying it using simulations? P.S.:Im using VREP for the simulations.

You’d need to create the servo, or if there is one already in the system, adapt it with the torque and speed of the RS-1270.

2. How can I determine the current consumed by each servo at each time instant?

Based on simulation? That is a lot of work for a very theoretical result.
You would need a torque vs current curve to know the current at a given torque (and voltage), which this product does not have.
“Smart servos” provide torque and current feedback in real time.

3. What is the governing mathematical model for a digital servo.

This is beyond the support we can provide. Perhaps another member of the forum can provide some insight.