Control system for spherical direct drive actuators with Hall sensors [mobile robots]

Author

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

Author_Institution

Inst. of Appl. Math., Acad. of Sci., Moscow, Russia

fYear

1999

fDate

1999

Firstpage

183

Lastpage

188

Abstract

We designed a control system for spherical direct drive actuator with Hall sensors. This device is intended for rapid and precise movement of mobile robot information system sensors. In the article we offer a scheme of autonomous mobile robots information system, which implies 2 spherical direct drive actuators. We offer effective control algorithms, based on analysis and the construction of mathematical models of all factors influencing control procedure. The realization and experiments with this system on the acting samples of drives in structure of the mobile robot information system are described

Keywords

Hall effect devices; actuators; mobile robots; Hall sensors; autonomous mobile robots; control algorithms; control procedure; mathematical models; mobile robot information system sensors; spherical direct drive actuators; Actuators; Control systems; Large Hadron Collider; Lenses; Magnetic field measurement; Magnetic resonance imaging; Mathematics; Resistors; Robot sensing systems; Sensor systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Multisensor Fusion and Integration for Intelligent Systems, 1999. MFI '99. Proceedings. 1999 IEEE/SICE/RSJ International Conference on

Conference_Location

Taipei

Print_ISBN

0-7803-5801-5

Type

conf

DOI

10.1109/MFI.1999.815986

Filename

815986