Abstract:This paper presents the control system design for a particular form of variable-reluctance spherical motors, referred to here as a spherical wheel motor (SWM). Unlike most of the existing spherical motors where focuses have been on the control of the three-DOF angular displacement, the SWM offers a means to control the orientation of a continuously rotating shaft. Specifically, we demonstrate an effective method to decouple the open-loop (OL) control of the spin rate from that of the inclination, leading to a … Show more
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