Motion generation methodology of a permanent magnet spherical actuator

The theory of permanent magnet spherical actuators in the recent years have evolved with the establishment of its electromechanical formulations. This class of actuators is highly favored due to its electromagnetic linearity which facilitates subsequent control. Much of the present research work focuses on the electromechanical modeling of the system as it correlates the electrical input parameters to the mechanical counterpart. Though essential and critical, little was revealed or documented as to how motion generation and control of the spherical actuator is to be carried out. This paper details the motion generation methodology for the permanent magnet spherical actuator. Employing existing electromechanical model proposed for the spherical actuator, this paper discusses and expounds on how one will be able to execute the motion profile and positioning of the rotor. With this methodology, coupled with an orientation sensing system, position control can be implemented for practical applications. The validity of this approach was verified against simulation results.