Spherical motors which can achieve multi-DOF rotational motions in a single joint are finding emerging applications in intelligent motion systems where dexterous motion and force operations are the key. Compared to their counterparts in traditional motion systems usually consisting of single-axis motors and coupling structures, spherical motors have the advantages such as structural simplicity, prompt and singularity-free motion and direct force/torque manipulation. Spherical motors are expected to greatly contribute and provide new inspirations to the development of smart machines and robots.
This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents models for establishing the relationships among the magnetic fields, position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing spherical motors. In order to take full advantage of the concise structure of spherical motors in practical applications, magnetic-field-based sensing and control methods that utilize the existing magnetic fields of spherical motors and eliminate the need to install external sensors for feedback are proposed. Experimental and demonstrative results performed on spherical motor prototypes show that the proposed methods can achieve sub-degree control accuracy and mili-second-level sampling time for three-DOF trajectory tracking. The capability of the spherical motors on force/torque manipulation is also investigated the first time in this book, where algorithms have been proposed enabling the ball-joint-like end-effector for haptic use based on the hybrid position/force actuation modes of spherical motors.
- ISBN: 978-981-10-7961-0
- Editorial: Springer
- Encuadernacion: Cartoné
- Fecha Publicación: 22/06/2018
- Nº Volúmenes: 1
- Idioma: Inglés