I'm using matlab to control a humanoid comprise of 12 Dynamixel 113 motors. Sometimes I got this error message:
??? Error using ==> serial.fwrite
A timeout occurred during the write operation.
Error in ==> version4_1>sendtomotor at 157
fwrite(s,char(txbuf));
This irritating problem happens...
The torque-speed characteristic is
w = Va/ (k phi) - Ra / (k phi)^2 Tm
phi: flux
Tm: torque of the motor
w: speed
if phi = 0 , then w goes to infinity. It is not the case in reality. Then what is the physics behind this?
Thank you
