Control and design of the spherical pointing motor

Author

Bederson, Benjamin B. ; Wallace, Richard S. ; Schwartz, Eric L.

Author_Institution

Bellcore, Morristown, NJ, USA

fYear

1993

fDate

2-6 May 1993

Firstpage

630

Abstract

A miniature pan-tilt actuator, the spherical pointing motor (SPM) has been built. The SPM is an absolute positioning device, designed to orient a small camera sensor in two degrees-of-rotational-freedom. It is 4 cm×5 cm×6 cm and weighs 160 g. The operating principle of the SPM is to orient a permanent magnet to the magnetic field induced by three orthogonal coils by applying the appropriate ratio of currents to the coils. The open-loop control and design of the SPM are described. Physical characteristics and velocity measurements of the prototype are reported. The SPM is modeled with a simple second order system. Without control, it oscillates substantially when a single impulse is applied. By applying a second impulse without feedback, the oscillation can be reduced by as much as a factor of ten

Keywords

electric actuators; electric motors; position control; velocity control; absolute positioning device; camera sensor; open-loop control; orthogonal coils; pan-tilt actuator; permanent magnet; second order system; spherical pointing motor; velocity measurements; Actuators; Cameras; Coils; Magnetic field measurement; Magnetic sensors; Open loop systems; Permanent magnet motors; Permanent magnets; Scanning probe microscopy; Velocity measurement;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-8186-3450-2

Type

conf

DOI

10.1109/ROBOT.1993.291888

Filename

291888