Kinematic design and commutation of a spherical stepper motor

Chirikjian, Gregory S.; Stein, David H.

doi:10.1109/3516.809513

Cited by 219 publications

(89 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The dynamic modeling describes the relationship between motion, velocity, and accelerations to force/torque or current/voltage and also it can be used to describe the particular dynamic effects (e.g., inertia, coriolios, centrifugal, and the other parameters) to behavior of system [1][2][3][4][5][6][7][8][9][10]. Spherical motor …”

Section: Theorem  Dynamic and Kinematics Formulation Of Sphericalmentioning

confidence: 99%

See 1 more Smart Citation

Design Intelligent System Compensator to Computed Torque Control of Spherical Motor

Rahmani¹,

Piltan²,

Matin³

et al. 2014

IJISA

View full text Add to dashboard Cite

Abstract-Spherical three Degree-of-Freedom (DOF) is controlled by model-base fuzzy computed torque controller. The spherical motor has three revolute joints allowing the corresponding parts to move horizontally and vertically. When developing a controller using conventional control methodology (e.g., feedback linearization methodology), a design scheme has to be produced, usually based on a system"s dynamic model. The work outline in this research utilizes soft computing applied to new conventional controller to address these methodology issues. Computed torque controller (CTC) is influential nonlinear controllers to certain systems which this method is based on compute the required arm torque using nonlinear feedback control law. When all dynamic and physical parameters are known, CTC works superbly; practically a large amount of systems have uncertainties and fuzzy feedback Inference Engine (FIS) is used to reduce this kind of limitation. Fuzzy logic provides functional capability without the use of a system dynamic model and has the characteristics suitable for capturing the approximate, varying values found in a M ATLAB based area. Based on this research model-base fuzzy computed torque controller applied to spherical motor is presented to have a stable and robust nonlinear controller and have a good result compared with conventional and pure fuzzy logic controllers.

show abstract

Section: Theorem  Dynamic and Kinematics Formulation Of Sphericalmentioning

confidence: 99%

“…Selecting proportional-plus-derivative (PD) feedback for U(t) results in the PD-computed torque controller [8][9][10];…”

Section: (4)mentioning

confidence: 99%

Design Intelligent System Compensator to Computed Torque Control of Spherical Motor

Rahmani¹,

Piltan²,

Matin³

et al. 2014

IJISA

View full text Add to dashboard Cite

show abstract

“…This kind of execution and energy conversion devices are usually built with multiple conventional motors or actuators, each having one degreeof-freedom, which leads to reducing the position accuracy, efficient, dynamic performance of the system. In this respect, the multi-DOF actuators or motors have attracted much attention [1][2][3][4][5]. However, their operation mechanisms and control algorithms are obviously different from those used for single-DOF actuator or motor's control system, also the design and optimization scheme are not suitable for the multi-DOF actuator applications [6,7].…”

Section: Introductionmentioning

confidence: 99%

Electromagnetic system analysis and improvement of a novel 3-DOF deflection type permanent magnet motor

Zhi

Wang

2017

Teh. vjesn.

View full text Add to dashboard Cite

Original scientific paper This paper presents the electromagnetic analysis of a novel fluid damping based hybrid drive multi-degrees-of-freedom permanent magnet motor based on analytical and 3D finite element methods. The spatial magnetic field calculation model, torque analysis model, oil film model and electromagnetic-thermal coupling are presented and developed. Based on the simulation calculation results, some important features on the magnetic field and torque characteristics, oil film and electromagnetic-thermal coupling are derived and their effects are discussed in detail with some further improvement design possibilities. The results provide the primary theoretical guide for the configuration design, optimization and control research of three degrees of freedom deflection type actuators. Keywords: analytical method; electromagnetic-thermal coupling; magnetic field; multi-DOF; oil film; torque Analiza elektromagnetskog sustava i poboljšanje novog 3-DOF motora s permanentnim magnetom s otklonomIzvorni znanstveni članak Ovaj rad predstavlja elektromagnetsku analizu novog motora s permanentnim magnetom na hibridni pogon s više stupnjeva slobode zasnovan na analitičkoj i 3D metodi konačnih elemenata. Prezentirani su i razvijeni proračunski model prostornog magnetskog polja, model analize zakretnog momenta, model uljnog sloja i elektromagnetsko-toplinske spojke. Na temelju simulacijskih rezultata proračuna, nekih važnih značajki karakteristika magnetskog polja i zakretnog momenta, izvedeni su uljni sloj i elektromagnetsko-toplinska spojka i detaljno proanalizirani njihovi učinci s nekim daljnjim mogućnostima poboljšanja oblikovanja. Rezultati pružaju primarni teorijski vodič za dizajn konfiguracije, optimizaciju i istraživanje reguliranja aktuatora deflekcijskog tipa s tri stupnja slobode.

show abstract

“…Even though, this methodology is used in wide range areas but, PD gravity method has an important drawbacks beside uncertain system in presence of external disturbance. This problem is solved by applied soft computing theory [8]. Although the fuzzy-logic control is not a new technique, its application in this current research is considered to be novel since it aimed for an automated dynamic-less response rather than for the traditional objective of uncertainties compensation [9][10].…”

Section: Introductionmentioning

confidence: 99%