Title :
On the control of a novel spherical robotic actuator
Author :
Davey, K. ; Vachtsevanos, G.
Author_Institution :
Georgia Institute of Technology, Atlanta, Georgia
Abstract :
A novel spherical induction motor is introduced capable of three degrees of motion in one joint for robotic wrist actuation applications. A control strategy for the motor is considered optimizing thermal losses and assuring robust performance. Simulation results indicate the feasibility of the control approach.
Keywords :
Actuators; DC motors; Induction motors; Manufacturing automation; Robots; Robustness; Rotors; Stator windings; Torque control; Wrist;
Conference_Titel :
Decision and Control, 1986 25th IEEE Conference on
Conference_Location :
Athens, Greece
DOI :
10.1109/CDC.1986.267291
