When viewing http://docs.odriverobotics.com/ , there’s a subsection called “Do I really need a power resistor? What values to choose?”, it mentions:
When braking at max speed and with maximum motor current, the power that is dissipated in the power resistor can be calulated as:
P_brake = V_emf * I_motorwhere
V_emf = V_bus / motor_kv.
Unless I’m missing something, this equation doesn’t mention the affect of load / torque on the calculation. (On our 5 DoF Arm at Greppy, the motors on the arms at the base are subject to quite a big more load because they are supporting the rest of the arm.)
Is there an equation we can use that would take load into account?