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

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.