TY - GEN
T1 - Trajectory planning and current control optimization of three degree-of-freedom spherical actuator
AU - Zhang, Liang
AU - Chen, Weihai
AU - Yan, Liang
AU - Liu, Jingmeng
PY - 2011
Y1 - 2011
N2 - The study in this paper covers torque modeling, trajectory planning and optimization control of current input of spherical actuators, in which the latter two are the major contributions. Trajectory planning is an effective way to improve the smoothness and stability of rotor motions. A novel three-dimensional (3D) orientation representation method based on manifold of S 2 is proposed to facilitate the trajectory planning of rotor. Current redundancy of spherical actuator is analyzed in detail, and optimization algorithm of current input is developed to improve the power efficiency and the fault tolerance capability of system. Simulation is then carried out to validate the proposed method and algorithm in this study. The simulation results indicate that by using the trajectory planning, the given torque values and the torque model, optimal current could be obtained to drive the rotor to achieve desired motions.
AB - The study in this paper covers torque modeling, trajectory planning and optimization control of current input of spherical actuators, in which the latter two are the major contributions. Trajectory planning is an effective way to improve the smoothness and stability of rotor motions. A novel three-dimensional (3D) orientation representation method based on manifold of S 2 is proposed to facilitate the trajectory planning of rotor. Current redundancy of spherical actuator is analyzed in detail, and optimization algorithm of current input is developed to improve the power efficiency and the fault tolerance capability of system. Simulation is then carried out to validate the proposed method and algorithm in this study. The simulation results indicate that by using the trajectory planning, the given torque values and the torque model, optimal current could be obtained to drive the rotor to achieve desired motions.
UR - https://www.scopus.com/pages/publications/84455172114
U2 - 10.1109/IROS.2011.6048506
DO - 10.1109/IROS.2011.6048506
M3 - 会议稿件
AN - SCOPUS:84455172114
SN - 9781612844541
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 744
EP - 749
BT - IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Y2 - 25 September 2011 through 30 September 2011
ER -