Development of a high performance multi-degree of freedom actuator applied to a robot

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In this study, a new small-sized 3-DOF joint actuator with high torque and wide-angle and a feedback control method using two image sensors were developed. I secured enough performance for the deployment to a humanoid robot arm and found high positioning precision by the combination with zero point sensing method using the Hall element. Furthermore, I developed the advanced dynamic analysis method for the actuator employing the three-dimensional finite element method and found that it was effective in optimal design through the comparison with the measurement on a prototype.