@inproceedings{d457c51e25214592b37d2cdc94839c1f,
title = "Dynamic control of a spherical actuator with orientation measurement feedback",
abstract = "This paper presents a dynamic control algorithm of a permanent magnetic spherical actuator, which is capable of performing 3-degree-of-freedom (DOF) in a single rotor. This algorithm is based on the orientation measurement feedback of the rotor. As the orientation measurement of the spherical actuator has been a challenging problem so far. An orientation measurement system for the rotor is proposed in this paper and its performance is validated in an experimental platform. The dynamic model is also presented in this paper, which is derived by Lagrange's equations. The dynamic control algorithm is based on the computed torque method, which can linearize and decouple the control. Simulation results indicate the feasibility of the dynamic control algorithm.",
keywords = "computed torque method, dynamic control, orientation measurement, spherical actuator, torque model",
author = "Fanghong Guo and Xingming Wu and Weihai Chen and Jingmeng Liu",
year = "2012",
doi = "10.1109/ICIEA.2012.6360698",
language = "英语",
isbn = "9781457721175",
series = "Proceedings of the 2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012",
pages = "64--68",
booktitle = "Proceedings of the 2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012",
note = "2012 7th IEEE Conference on Industrial Electronics and Applications, ICIEA 2012 ; Conference date: 18-07-2012 Through 20-07-2012",
}