Spherical Actuators with Multiple Degrees-of-Freedom

IEE Colloquium (Digest)

Volumn , Issue 494, 1998, Pages

  Wang, J ^a   Jewell, G W ^b   Howe, D ^b  

^a UNIVERSITY OF EAST LONDON   (United Kingdom)

^b UNIVERSITY OF SHEFFIELD   (United Kingdom)

Author keywords

[No Author keywords available]

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); DYNAMICS; KINEMATICS; MATHEMATICAL MODELS; OPTIMIZATION; ROBUSTNESS (CONTROL SYSTEMS); SENSORS; SERVOMECHANISMS; SYSTEM STABILITY; TOPOLOGY; TORQUE;

SPHERICAL ACTUATORS;

ACTUATORS;

EID: 0032259124     PISSN: 09633308     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

References (10)

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2. Davey, K., Vachtsevanos, G. and Powers, R. 'The analysis of fields and torques in spherical induction motors', IEEE Trans, on Magn., 1987, 23 (1), pp. 273-282
3. Lee, K. M. and Kwan, C. K. 'Design concept development of a spherical stepper for robotic applications' IEEE Trans, on Robot. Autom., 1991, 7 (1), pp. 175-181
4. Lee, K. M., Pei, J. and Roth, R., 'Kinematic analysis of a three-degrees-of-freedom spherical wrist actuator', Mechatronics, 1994, 4 (6), pp. 581-605
5. Kaneko, K., Yamada, I. and Itao, K., 'A spherical DC servo motor with three degrees of freedom', Trans. ASME, J. Dyn., Syst., Meas. Control, 1989, 111, pp. 398-402
6. Bederson, R., Wallace, R. and Schwartz, E., 'A miniature pan-tilt actuator: the spherical pointing motor', IEEE Trans, on Robot. Autom., 1994, 10 (2), 298-308
7. Andresen, E. and Anders, M., 'A three axis torque motor of very high steady-state and dynamic accuracy', Proceedings of IEEE Power Tech. conference, 1995, Stockholm, pp. 304- 309
8. Lewis, F. L., Abdallah, C. T. and Dawson, D. M., " Control of robotic manipulators", Macmillan Publishing Company, 1993
9. Wang, J., Dodds, S. J. and Bailey, W. N., 'Guaranteed rates of convergence of a class of PD controllers for trajectory tracking problems of robotic manipulator with dynamic uncertainties', IEE Proc.-Control Theory Appl., 1996, 143 (2), pp. 186-190
10. Wang, J. Wang, W., Jewell, G. W. and Howe. D, "A novel spherical permanent magnet actuator with three degrees-of-freedom", IEEE Trans, on Magn. 1998, 34(4), pp 2078-80