DocumentCode
3074227
Title
On the control of a novel spherical robotic actuator
Author
Davey, K. ; Vachtsevanos, G.
Author_Institution
Georgia Institute of Technology, Atlanta, Georgia
fYear
1986
fDate
10-12 Dec. 1986
Firstpage
415
Lastpage
416
Abstract
A novel spherical induction motor is introduced capable of three degrees of motion in one joint for robotic wrist actuation applications. A control strategy for the motor is considered optimizing thermal losses and assuring robust performance. Simulation results indicate the feasibility of the control approach.
Keywords
Actuators; DC motors; Induction motors; Manufacturing automation; Robots; Robustness; Rotors; Stator windings; Torque control; Wrist;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1986 25th IEEE Conference on
Conference_Location
Athens, Greece
Type
conf
DOI
10.1109/CDC.1986.267291
Filename
4048779
Link To Document