Hello,
I am working on a mobile robot and using ODrive to control four 170KV motors for the drivetrain.
My current setup is as follows:
- 4 ODrive s1
- 4 motors
- Motor KV: 170KV
- Robot weight: about 20 kg
- Supply voltage: 24 V
- Gear ratio: 1:1
- Control mode: Velocity control
The problem is that the robot sometimes seems to have insufficient torque, especially under load.
I would like to ask:
- Are there any ODrive settings that can help increase torque output?
- Are there any recommended tuning methods in ODrive GUI for this kind of setup?
- In velocity control, which parameters should I adjust to improve low-speed torque and startup performance?
Since my encoder is attached to the wheel side, the gear ratio is effectively 1:1 for control.
If anyone has experience with similar heavy robots, I would really appreciate your advice.
Thank you.