I build things. Actuators , code, circuits, cloud, CAD - with AI doing the boring parts. If it can be prototyped, I鈥檝e broken it twice and shipped it anyway.
The non linearities will come under load condition. Ideas charaterization is already given by them here . You can back calculate current from it through motor Kv. What you need to define is how the actuator reaches a given torque and speed under certain load conditions
Sir, the authorities have literally made Kaggadaspura hell hole. Random cattle on the road, rampant illegal parking, overflowing manholes , early morning construction (5am) is just an example.