Add <dcmotor> actuator and related docs and tests.

PiperOrigin-RevId: 892927987 Change-Id: I38ed6412801341ba03ddf5fe7b93a6081df24d37
2026-04-01 07:49:53 -07:00
parent 6da210c794
commit 70a7647ad9
31 changed files with 3994 additions and 55 deletions
@@ -0,0 +1,21 @@
+#!/bin/bash
+# Copyright 2026 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+pdflatex -interaction=nonstopmode -jobname=dcmotor dcmotor.tex 2>&1 | grep -E '(Error|Output written)' && \
+bibtex dcmotor 2>&1 | grep -v '^$' && \
+pdflatex -interaction=nonstopmode -jobname=dcmotor dcmotor.tex 2>&1 | grep -E '(Error|Output written)' && \
+pdflatex -interaction=nonstopmode -jobname=dcmotor dcmotor.tex 2>&1 | grep -E '(Error|Output written)' && \
+rm -f *.{aux,log,out,bbl,blg} && \
+mv dcmotor.pdf ../_static/
@@ -0,0 +1,82 @@
+@article{dewit95,
+  author  = {Canudas de Wit, C. and Olsson, H. and {\AA}str{\"o}m, K. J. and Lischinsky, P.},
+  title   = {{A New Model for Control of Systems with Friction}},
+  journal = {IEEE Transactions on Automatic Control},
+  volume  = {40},
+  number  = {3},
+  pages   = {419--425},
+  year    = {1995},
+  month   = mar,
+}
+
+@article{lugre_revisited,
+  author  = {{\AA}str{\"o}m, K. J. and Canudas de Wit, C.},
+  title   = {{Revisiting the LuGre Friction Model}},
+  journal = {IEEE Control Systems Magazine},
+  volume  = {28},
+  number  = {6},
+  pages   = {101--114},
+  year    = {2008},
+  month   = dec,
+}
+
+@techreport{dahl68,
+  author      = {Dahl, P.},
+  title       = {{A Solid Friction Model}},
+  institution = {The Aerospace Corporation},
+  address     = {El Segundo, CA},
+  number      = {TOR-0158(3107-18)-1},
+  year        = {1968},
+}
+
+@book{hughes2019,
+  author    = {Hughes, Austin and Drury, Bill},
+  title     = {{Electric Motors and Drives: Fundamentals, Types and Applications}},
+  edition   = {5th},
+  publisher = {Newnes},
+  year      = {2019},
+}
+
+@book{tedrake2024,
+  author    = {Tedrake, Russ},
+  title     = {{Underactuated Robotics: Algorithms for Walking, Running,
+               Swimming, Flying, and Manipulation}},
+  publisher = {MIT},
+  year      = {2024},
+  note      = {Course notes for MIT 6.832, \url{https://underactuated.mit.edu}},
+}
+
+@article{isaaclab2025,
+  author  = {Mittal, Mayank and Yu, Calvin and Yu, Qinxi and Liu, Jingzhou
+             and Rudin, Nikita and Hoeller, David and Yuan, Jia Lin
+             and Singh, Ritvik and Guo, Yunrong and Mazhar, Hammad
+             and Mandlekar, Ajay and Babich, Buck and State, Gavriel
+             and Hutter, Marco and Garg, Animesh},
+  title   = {{Isaac Lab: A Unified and Modular Framework for Robot Learning}},
+  journal = {arXiv preprint arXiv:2502.11048},
+  year    = {2025},
+}
+
+@article{stribeck1902,
+  author  = {Stribeck, R.},
+  title   = {{Die wesentlichen Eigenschaften der Gleit- und Rollenlager}},
+  journal = {Zeitschrift des Vereines Deutscher Ingenieure},
+  volume  = {46},
+  pages   = {1341--1348, 1432--1438, 1463--1470},
+  year    = {1902},
+}
+
+@misc{maxon_formulas,
+  author       = {{Maxon Motor AG}},
+  title        = {{Key Information on Maxon DC Motors and Maxon EC Motors}},
+  howpublished = {\url{https://www.maxongroup.com}},
+  year         = {2024},
+  note         = {{Maxon} Academy Technical Notes},
+}
+
+@misc{simscape_dcmotor,
+  author       = {{MathWorks}},
+  title        = {{DC Motor --- Simscape Electrical Block Reference}},
+  howpublished = {\url{https://www.mathworks.com/help/sps/ref/dcmotor.html}},
+  year         = {2024},
+}