Torque modeling of a spherical actuator based on Lorentz force law

Liang Yan; I. Ming Chen; Chee Kian Lim; Guilin Yang; Wei Lin; Kok Meng Lee

doi:10.1109/ROBOT.2005.1570675

Torque modeling of a spherical actuator based on Lorentz force law

Liang Yan^*
, I. Ming Chen
, Chee Kian Lim
, Guilin Yang
, Wei Lin
, Kok Meng Lee

^*Corresponding author for this work

Nanyang Technological University
Agency for Science, Technology and Research, Singapore
Georgia Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

39 Scopus citations

Abstract

An actuator with 3-DOF spherical motion is developed based on layered arrangement of stator coils and rotor poles. Due to the use of air-core coils and permanent magnet poles, the torque model of the actuator cannot be obtained by traditional coenergy approach. This paper describes a generic torque modeling method based on Lorentz force law. The closed-form solution of the torque model is derived from the scalar potentials of the magnetic field. Experimental study on the torque model is carried out. A comparison between the closed-form solution and the experimental result shows that the proposed torque model is valid and can be used for real-time control.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Pages	3646-3651
Number of pages	6
DOIs	https://doi.org/10.1109/ROBOT.2005.1570675
State	Published - 2005
Externally published	Yes
Event	2005 IEEE International Conference on Robotics and Automation - Barcelona, Spain Duration: 18 Apr 2005 → 22 Apr 2005

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2005
ISSN (Print)	1050-4729

Conference

Conference	2005 IEEE International Conference on Robotics and Automation
Country/Territory	Spain
City	Barcelona
Period	18/04/05 → 22/04/05

Access to Document

10.1109/ROBOT.2005.1570675

Cite this

Yan, L., Chen, I. M., Lim, C. K., Yang, G., Lin, W., & Lee, K. M. (2005). Torque modeling of a spherical actuator based on Lorentz force law. In Proceedings of the 2005 IEEE International Conference on Robotics and Automation (pp. 3646-3651). Article 1570675 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005). https://doi.org/10.1109/ROBOT.2005.1570675

@inproceedings{934df17e980544c0996e0254cd180f26,

title = "Torque modeling of a spherical actuator based on Lorentz force law",

abstract = "An actuator with 3-DOF spherical motion is developed based on layered arrangement of stator coils and rotor poles. Due to the use of air-core coils and permanent magnet poles, the torque model of the actuator cannot be obtained by traditional coenergy approach. This paper describes a generic torque modeling method based on Lorentz force law. The closed-form solution of the torque model is derived from the scalar potentials of the magnetic field. Experimental study on the torque model is carried out. A comparison between the closed-form solution and the experimental result shows that the proposed torque model is valid and can be used for real-time control.",

author = "Liang Yan and Chen, \{I. Ming\} and Lim, \{Chee Kian\} and Guilin Yang and Wei Lin and Lee, \{Kok Meng\}",

year = "2005",

doi = "10.1109/ROBOT.2005.1570675",

language = "英语",

isbn = "078038914X",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

pages = "3646--3651",

booktitle = "Proceedings of the 2005 IEEE International Conference on Robotics and Automation",

note = "2005 IEEE International Conference on Robotics and Automation ; Conference date: 18-04-2005 Through 22-04-2005",

}

Yan, L, Chen, IM, Lim, CK, Yang, G, Lin, W & Lee, KM 2005, Torque modeling of a spherical actuator based on Lorentz force law. in Proceedings of the 2005 IEEE International Conference on Robotics and Automation., 1570675, Proceedings - IEEE International Conference on Robotics and Automation, vol. 2005, pp. 3646-3651, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, 18/04/05. https://doi.org/10.1109/ROBOT.2005.1570675

Torque modeling of a spherical actuator based on Lorentz force law. / Yan, Liang; Chen, I. Ming; Lim, Chee Kian et al.
Proceedings of the 2005 IEEE International Conference on Robotics and Automation. 2005. p. 3646-3651 1570675 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2005).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Torque modeling of a spherical actuator based on Lorentz force law

AU - Yan, Liang

AU - Chen, I. Ming

AU - Lim, Chee Kian

AU - Yang, Guilin

AU - Lin, Wei

AU - Lee, Kok Meng

PY - 2005

Y1 - 2005

N2 - An actuator with 3-DOF spherical motion is developed based on layered arrangement of stator coils and rotor poles. Due to the use of air-core coils and permanent magnet poles, the torque model of the actuator cannot be obtained by traditional coenergy approach. This paper describes a generic torque modeling method based on Lorentz force law. The closed-form solution of the torque model is derived from the scalar potentials of the magnetic field. Experimental study on the torque model is carried out. A comparison between the closed-form solution and the experimental result shows that the proposed torque model is valid and can be used for real-time control.

AB - An actuator with 3-DOF spherical motion is developed based on layered arrangement of stator coils and rotor poles. Due to the use of air-core coils and permanent magnet poles, the torque model of the actuator cannot be obtained by traditional coenergy approach. This paper describes a generic torque modeling method based on Lorentz force law. The closed-form solution of the torque model is derived from the scalar potentials of the magnetic field. Experimental study on the torque model is carried out. A comparison between the closed-form solution and the experimental result shows that the proposed torque model is valid and can be used for real-time control.

UR - https://www.scopus.com/pages/publications/33846160938

U2 - 10.1109/ROBOT.2005.1570675

DO - 10.1109/ROBOT.2005.1570675

M3 - 会议稿件

AN - SCOPUS:33846160938

SN - 078038914X

SN - 9780780389144

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 3646

EP - 3651

BT - Proceedings of the 2005 IEEE International Conference on Robotics and Automation

T2 - 2005 IEEE International Conference on Robotics and Automation

Y2 - 18 April 2005 through 22 April 2005

ER -

Torque modeling of a spherical actuator based on Lorentz force law

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