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- W2146752469 abstract "Presents high-precision control strategies and bearing support mechanisms for real-time motion control of a multiple degree-of-freedom (DOF) variable-reluctance (VR) spherical motor. In particular, a resultant magnetic force model is derived which, along with the torque model, is used to develop a reaction-free control strategy to establish a non-contact support mechanism through magnetic levitation to achieve high performance motion. An equivalent angle-axis based control is also designed and implemented for real-time applications. The designed control strategy only requires limited knowledge of system dynamics, and therefore is robust and practical. A look-up table based on-line nonlinear optimization scheme is devised to facilitate the control strategy for a prototype VR spherical motor. Control experimental results verify the reaction-free control strategy and demonstrate the motion capability of the multi-DOF VR spherical motor. The concepts, methodologies, and experimental techniques developed in the paper establish an essential analytical and engineering basis for real-time motion control of VR spherical motors." @default.
- W2146752469 created "2016-06-24" @default.
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- W2146752469 date "2002-12-23" @default.
- W2146752469 modified "2023-09-24" @default.
- W2146752469 title "Real-time motion control of a multi-degree-of-freedom variable reluctance spherical motor" @default.
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- W2146752469 doi "https://doi.org/10.1109/robot.1996.506596" @default.
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