@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",
}