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A novel spherical actuator: Design and control \ud

By J.B. Wang, G.W. Jewell and D. Howe


The paper describes the design and control of a novel spherical permanent magnet actuator which is capable of two-degrees-freedom and a high specific torque. Based on an analytical actuator model, an optimal design procedure is developed to yield maximum output torque or maximum system acceleration for a given payload. The control of the actuator, whose dynamics are similar to those of robotic manipulators, is facilitated by the establishment of a complete actuation system model. A robust control law is applied, and its effectiveness is demonstrated by computer simulatio

Year: 1997
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