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
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;
Conference_Titel :
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-7803-5038-3
DOI :
10.1109/AIM.1999.803294
