An arm of the cylindrical robot which is driven by a direct-current motor needs a torque of 100 in-lbs. The DC motor has a torque constant of 3 in-lbs per ampere. How much current is needed to drive the robot arm at maximum load?
What will be an ideal response?
In DC motor, the torque 
is related to magnetic flux 
and current I by,
Since 
is constant for permanent magnet motor, torque is proportional to armature current in steady state. The DC servomotor drives a mechanical load consisting of dynamic and static components,
J is the combined moment of inertia of the motor and load, 
is the static load due to friction and other forces in robotic system
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