Force control of a spiral motor and its application to musculoskeletal biped robot

Author

Fujimoto, Yasutaka ; Suenaga, Tsubasa ; Wakayama, Yuuki ; Sawai, Kengo ; Shukor, Ahmad Zaki

Author_Institution

Dept. of Electr. & Comput. Eng., Yokohama Nat. Univ., Yokohama, Japan

fYear

2012

fDate

25-27 March 2012

Firstpage

1

Lastpage

6

Abstract

This paper proposes force control of a spiral motor in combination with zero-power magnetic levitation control. The motor has a helical-shape mover, which moves in a helical-shape stator without contact. Due to the manufacturing process, the actual spiral motor contains fluctuation of neutral point of the air-gap displacement depending on the mover rotation angle. The d-axis current remain a finite value and copper loss arises even when the mover is located at the center between the stator cores. Zero-power magnetic levitation control is proposed to solve this problem. The proposed control is experimentally verified. In addition, a model of a musculoskeletal biped robot equipped with spiral motors is introduced.

Keywords

force control; legged locomotion; machine control; magnetic levitation; medical robotics; stators; air-gap displacement; copper loss; d-axis current; force control; helical-shape mover; helical-shape stator; manufacturing process; mover rotation angle; musculoskeletal biped robot; neutral point fluctuation; spiral motor; zero-power magnetic levitation control; Actuators; Force; Magnetic levitation; Permanent magnet motors; Robots; Spirals; Synchronous motors;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control (AMC), 2012 12th IEEE International Workshop on

Conference_Location

Sarajevo

Print_ISBN

978-1-4577-1072-8

Electronic_ISBN

978-1-4577-1071-1

Type

conf

DOI

10.1109/AMC.2012.6197143

Filename

6197143