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Feedback Control of the 2-DOF Actuator Specialized for 2-Axes Rotation

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4 Author(s)
Sakaidani, Y. ; Dept. of Adaptive Machine Syst., Osaka Univ., Suita, Japan ; Hirata, K. ; Maeda, S. ; Niguchi, N.

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.

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Magnetics, IEEE Transactions on  (Volume:49 ,  Issue: 5 )