Research of spherical direct drive actuators control systems

Author

Sokolov, S.M. ; Trifonov, O.V. ; Yaroshevsky, V.S.

Author_Institution

M.V. Keldysh Inst. of Appl. Math., Acad. of Sci., Moscow, Russia

Volume

2

fYear

2001

fDate

2001

Firstpage

1780

Abstract

The design and researches of spherical direct drive actuators control systems focused on execution of precise and fast movements in structure of mobile robots information systems are described. The mathematical models of electrical and magnetic fields in these drives are derived, and variants of the control algorithms are considered. Effective control algorithms, based on the analysis and use of the mathematical models of all factors rendering influence to the control procedure are offered. Results of experiments on the working samples of spherical direct drives actuators are described, the recommendations for their further perfection, development and possible applications, are given.

Keywords

electric actuators; electric fields; magnetic fields; mobile robots; motion control; control systems; electrical fields; magnetic fields; mathematical models; mobile robots; movement control; spherical direct drive actuators; Actuators; Control systems; Information systems; Magnetic sensors; Mathematical model; Mathematics; Mechanical sensors; Mobile robots; Scanning probe microscopy; Sensor phenomena and characterization;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-6576-3

Type

conf

DOI

10.1109/ROBOT.2001.932867

Filename

932867