Control and design of the spherical pointing motor
Bederson, B.B.
Wallace, R.S.
Schwartz, E.L.
Bellcore, Morristown, NJ;
This paper appears in: Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Publication Date: 2-6 May 1993
On page(s): 630-636 vol.2
Meeting Date: 05/02/1993 - 05/06/1993
Location: Atlanta, GA, USA
ISBN: 0-8186-3450-2
References Cited: 5
INSPEC Accession Number: 4690832
Digital Object Identifier: 10.1109/ROBOT.1993.291888
Current Version Published: 2002-08-06
Abstract
A miniature pan-tilt actuator, the spherical pointing motor (SPM)
has been built. The SPM is an absolute positioning device, designed to
orient a small camera sensor in two degrees-of-rotational-freedom. It is
4 cm×5 cm×6 cm and weighs 160 g. The operating principle of
the SPM is to orient a permanent magnet to the magnetic field induced by
three orthogonal coils by applying the appropriate ratio of currents to
the coils. The open-loop control and design of the SPM are described.
Physical characteristics and velocity measurements of the prototype are
reported. The SPM is modeled with a simple second order system. Without
control, it oscillates substantially when a single impulse is applied.
By applying a second impulse without feedback, the oscillation can be
reduced by as much as a factor of ten
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