Experimental Verification of Feedback Control of a 2-DOF Spherical Actuator
Experimental Verification of Feedback Control of a 2-DOF Spherical Actuator
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DOI：
10.1109/tmag.2014.2329484
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发表时间：
2014-11
影响因子：
2.1
通讯作者：
Y. Sakaidani;K. Hirata;N. Niguchi;Shuhei Maeda
中科院分区：
文献类型：
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作者：
Y. Sakaidani;K. Hirata;N. Niguchi;Shuhei Maeda
为了驱动具有多个自由度(DOF)的传统电机驱动系统，例如工业机器人手臂，所使用的执行器的数量必须等于DOF的数量。这导致系统体积大、重量重，而且整体效率较低。为了解决这些问题，可以绕多个轴旋转的球面致动器正在进行开发。通常，多自由度执行器具有多个极点和线圈，各线圈的电流必须单独控制，这使得控制系统变得复杂。在本文中，我们提出了一种两自由度执行器的反馈控制方法，使线圈的电流能够很容易地确定。通过实验验证了该控制方法的有效性。
To drive conventional motor drive systems that have multiple degrees of freedom (DOF), such as industrial robot arms, the number of actuators employed has to be equal to the number of DOF. This causes the system to be large and heavy, and also have a lower overall efficiency. To solve these problems, the development of spherical actuators, which can rotate around multiple axes, is being conducted. In general, multi-DOF actuators have many poles and coils, and the currents of the coils have to be controlled individually, making the control system complicated. In this paper, we propose a feedback control method for a 2-DOF actuator that enables the currents of the coils to be easily determined. The effectiveness of the control method is verified through experimental verification.