DocumentCode
3298342
Title
Control system design for spherical direct drive actuators with the Hall sensors
Author
Sokolov, S.M. ; Trifonov, O.V. ; Yaroshevsky, V.S.
Author_Institution
M.V. Keldysh Inst. of Appl. Math., Acad. of Sci., Moscow, Russia
fYear
1999
fDate
1999
Firstpage
916
Lastpage
921
Abstract
We designed a control system for a spherical direct drive actuator with Hall sensors. This device is intended for rapid and precise mobile robot information system sensors movement. The physical fundamentals of the spherical direct drive actuator with Hall sensors are described. We offer effective control algorithms based on analysis and the constructions of mathematical models of all factors rendering influence to the control procedure. The realization and experiments with this system on the acting samples of drives in the structure of the mobile robot information system are described
Keywords
actuators; control system synthesis; mobile robots; sensors; Hall sensors; control system design; experiments; mathematical models; mobile robot; spherical direct drive actuators; Actuators; Control systems; Information systems; Laser transitions; Magnetic heads; Magnetic resonance imaging; Magnets; Mathematics; Mobile robots; Sensor systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-7803-5038-3
Type
conf
DOI
10.1109/AIM.1999.803294
Filename
803294
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