Title :
Feedback Control of the 2-DOF Actuator Specialized for 2-Axes Rotation
Author :
Sakaidani, Yo ; Hirata, Kazufumi ; Maeda, Shigenobu ; Niguchi, Noboru
Author_Institution :
Dept. of Adaptive Machine Syst., Osaka Univ., Suita, Japan
Abstract :
Recently many multi-degree-of-freedom actuators have been proposed and we ourselves have proposed a 2-degree-of-freedom spherical actuator. In this paper a feedback control method is proposed, and the dynamic operating characteristics under feedback control are computed using 3-D finite element method analysis. In addition, in order to verify the simulation results, experiments using a prototype are carried out.
Keywords :
actuators; feedback; finite element analysis; manipulators; 2-DOF actuator; 2-axes rotation; 2-degree-of-freedom spherical actuator; 3D finite element method analysis; dynamic operating characteristics; feedback control method; multidegree-of-freedom actuator; robot wrist; Dynamic analysis; finite element method; multi-degrees-of-freedom; spherical actuator;
Journal_Title :
Magnetics, IEEE Transactions on
DOI :
10.1109/TMAG.2013.2238515
