Torque model for design and control of a spherical wheel motor

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Volumn 1, Issue , 2005, Pages 335-340

  Lee, Kok Meng ^a   Son, Hungsun ^a  

^a GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Actuators; Stepper control; Torque model

Indexed keywords

COMPUTATION THEORY; DEGREES OF FREEDOM (MECHANICS); MATHEMATICAL MODELS; ROTORS; SHAFTS (MACHINE COMPONENTS); TORQUE; WHEELS;

SPHERICAL WHEEL MOTOR (SWM); STEPPER CONTROL; TORQUE COMPUTATION; TORQUE MODEL;

ELECTRIC MOTORS;

EID: 27644512858     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (15)

1. Clarke, W., 2002, "Mercedes-Benz F-400 Carving," edmunds.com.
2. Peter, J. 2004 "The Wave of the Future?" Automotive Industries, January.
3. Lee, K-M. & C.-K. Kwan, 1991, "Design Concept Development of a Spherical Stepper for Robotic Applications," IEEE T-Robotics and Automation, Vol. 7, no.1, pp. 175-180, February 1.
4. Vachtesevanos, G.J., K. Davey, & K.M. Lee, 1987, "Development of a Novel Intelligent Robotic Manipulator," IEEE Control Systems Magazine, June.
5. Foggia, A., E. Oliver & F. Chappuis, 1988, "New Three DOF Electromagnetic Actuator," Conference Record - IAS Annual Meeting, Vol. 35, New York.
6. Hollis, R.L., A.P. Allan, & S. Salcudean, 1987, "A Six Degree-of-freedom Magnetically Levitated Variable Compliance Fine Motion Wrist," Fourth Int'l Symp. on Robotics Research, Santa Cruz.
7. Kaneko, K., I. Yamada, & K. Itao, 1988, "A Spherical DC Servo Motor with Three Degrees of Freedom," ASM Dyn. Sys. & Con. Div., Vol. 11, p. 433.
8. Neto, L., R. Mendes, & D. A. Andrade, 1995, "Spherical Motor- a 3D Position Servo," Proc. IEEE Conf. on Electrical Machines and Drives, 11-13 Sept., pp. 227-231.
9. Lee, K-M., R. Roth, and Z. Zhou, 1996, "Dynamic Modeling and Control of a Ball-joint-like VR Spherical Motor," ASME J. of Dyn. Sys. Meas. and Control, vol. 118, no. 1, pp. 29-40, March.
10. Chirikjian, G. S., & D. Stein, 1999, "Kinematic Design and Commutation of a Spherical Stepper Motor," IEEE/ASME T-Mechatronics Vol. 4, No. 4, Dec.
11. Wang, J., G. Jewel, & D Howe, 2003, "Design and Control of a Novel Spherical Permanent Magnet Actuator with Three DOF," IEEE/ASME Trans. on Mechatronics, Vol. 8, No. 4, Dec., 457-467.
12. Shigeki, T., Osamu, M., & Guoqiang, Z., 1996 "Development of New Generation Spherical Ultrasonic Motor," ICRA96, pp. 2871-2876.
13. Yang, C. I. & Y. S. Back, 1999, "Design and Control of the 3 DOF Actuator by Controlling the Electromagnetic Force," IEEE/ASME T-Mechatronics, Vol. 35, No. 5, Sept.
14. Lee, K.-M. R. A. Sosseh & Z. Wei, 2004, "Effects of the Torque Model on the Control of a VR Spherical Motor," IFAC J. of Contr. Eng. Practice, Vol 12/11 pp 1437-1449.
15. Lee, K.-M., H. Son, and J. Joni, "Concept Development and Design of a Spherical Wheel Motor (SWM)," IEEE ICRA 2005, April 18-22, 2005, Barcelona, Spain.