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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Lee, Kok-Meng Wang, Xiao-an |
| Copyright Year | 1992 |
| Description | Author affiliation: Graduate Research Assistant, The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405 (Wang, Xiao-an) || Associate Professor, The George W. Woodruff School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332-0405 (Lee, Kok-Meng) |
| Abstract | This paper presents the dynamic modeling and the control strategy of an interesting three degrees-of-freedom (DOF) variable-reluctance (VR) spherical motor which offers some attractive features by combining pitch, roll, and yaw motion in a single joint. Both the forward dynamics which determine the motion as a result of activating the electromagnetic coils and the inverse model which determine the coil excitations required to generate the desired torque are derived. The model represents the first detailed study on the inverse dynamic, and yet, permits a spectrum of design configurations to be analyzed. The solution to the forward dynamics of the spherical motor is unique but the inverse model may have multiple solutions and therefore an optimal choice is required. The control strategy of a VR spherical motor consists of two puts; namely, the control of the rotor dynamic in terms of the actuating torque, and the determination of the optimal inputs for the required torque. An optimal choice is determined from an unconstrained optimization problem. The implementation issues in determining the optimal control input vector in real-time are also addressed. |
| Starting Page | 2463 |
| Ending Page | 2467 |
| File Size | 494623 |
| Page Count | 5 |
| File Format | |
| ISBN | 0780302109 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1992-06-24 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | American Automatic Control Council(AACC) |
| Subject Keyword | Virtual reality Coils Tellurium Electromagnetic modeling Motion control Inverse problems Optimal control Robots Torque control Wrist |
| Content Type | Text |
| Resource Type | Article |
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