Title :
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
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;
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
DOI :
10.1109/MFI.1999.815986
