@inproceedings{95052ad037dc4447a13ddd42c668a2bc,
title = "Torque modelling and current optimization of a spherical actuator built as an electro-magnets driven spherical parallel manipulator",
abstract = "This paper presents a novel design of a spherical actuator built as an electro-magnets driven spherical parallel manipulator which produces 3-DOF rotational motion within the workspace. The inverse kinematics and dynamics of spherical parallel manipulator are described. The torque modelling and the current optimization control of spherical parallel manipulators are developed. Simulation results are included to demonstrate the validity of the developed models.",
keywords = "Current optimization, Permanent magnet spherical motor, Spherical parallel manipulator, Torque modelling",
author = "Xuerong Li and Shaoping Bai and Weihai Chen and Jingmeng Liu",
note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 8th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2017 and IEEE Conference on Robotics, Automation and Mechatronics, RAM 2017 ; Conference date: 19-11-2017 Through 21-11-2017",
year = "2017",
month = jul,
day = "2",
doi = "10.1109/ICCIS.2017.8274850",
language = "英语",
series = "2017 IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2017 and IEEE Conference on Robotics, Automation and Mechatronics, RAM 2017 - Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "626--631",
booktitle = "2017 IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2017 and IEEE Conference on Robotics, Automation and Mechatronics, RAM 2017 - Proceedings",
address = "美国",
}