Name
Abstract | ||
|---|---|---|
This paper presents the design concept, models' and open-loop control of a particular form of a variable-reluctance spherical motor (VRSM), referred here as a spherical wheel motor (SWM). Unlike existing spherical motors where design focuses have been on controlling the three degrees of freedom (DOF) angular displacements, the SWM offers a means to control the orientation of a continuously rotating shaft in an open-loop (OL) fashion. We provide a formula for deriving different switching sequences (full step and fractional step) for a specified current magnitude and pole configurations. The concept feasibility of an OL controlled SWM has been experimentally demonstrated on a prototype that has 8 rotor permanent-magnet (PM) pole-pairs and 10 stator electromagnet (EM) pole-pairs. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/ROBOT.2005.1570676 | ICRA |
Keywords | Field | DocType |
spherical motor,stepper,wrist actuator,ball-joint-like actuator,brushless motor,open loop systems,actuators,induction motors,torque | Switched reluctance motor,Magnetic reluctance,Control theory,Electromagnet,Control engineering,Rotor (electric),Concept development,Stator,Brushless motors,Engineering,Stepper | Conference |
Volume | Issue | ISSN |
2005 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
0-7803-8914-X | 9 | 1.31 |
References | Authors | |
3 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kok-Meng Lee | 1 | 413 | 126.13 |
| Kok-Meng Lee | 2 | 413 | 126.13 |
| Hungsun Son | 3 | 13 | 8.57 |
| Jeffry Joni | 4 | 14 | 3.81 |