dc.citation.conferencePlace |
US |
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dc.citation.endPage |
340 |
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dc.citation.startPage |
335 |
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dc.citation.title |
2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS |
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dc.contributor.author |
Lee, KM |
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dc.contributor.author |
Son, H |
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dc.date.accessioned |
2023-12-20T05:36:26Z |
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dc.date.available |
2023-12-20T05:36:26Z |
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dc.date.created |
2016-12-16 |
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dc.date.issued |
2005-07 |
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dc.description.abstract |
This paper presents a method of deriving the torque model for a three degrees of freedom (3-DOF) spherical motor such as a variable-reluctance spherical motor (VRSM) or a spherical wheel motor (SWM). The SWM (much like the VRSM capable of offering three-DOF in a single joint) offers the ability to spin continuously while the rotor shaft can be tilted arbitrarily. We derive a closed-form torque model and demonstrate its use for designing the switching controller based the principle of push-pull operation for the SWM. The closed-form torque model given here greatly reduces the torque computation, and simplifies the design of the switching controller. |
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dc.identifier.bibliographicCitation |
2005 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, pp.335 - 340 |
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dc.identifier.issn |
2159-6255 |
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dc.identifier.uri |
https://scholarworks.unist.ac.kr/handle/201301/40875 |
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dc.identifier.url |
http://ieeexplore.ieee.org/document/1501013/ |
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dc.identifier.wosid |
000232003500058 |
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dc.language |
영어 |
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dc.publisher |
IEEE |
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dc.title |
Torque model for design and control of a spherical wheel motor |
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dc.type |
Conference Paper |
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dc.date.conferenceDate |
2005-07-24 |
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