Affiliations: Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, Osaka, Japan
Correspondence:
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Corresponding author: Yusuke Nishiura, Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 2-1 Yamadagaoka, Suita, Osaka 565-0871, Japan. Tel./Fax: +81 6 6879 7553; E-mail:[email protected]
Abstract: The development of multi degree-of-freedom actuating
systems has been required in robotics and industrial machinery fields. In
general, however, the actuating system with several degrees of freedom is
composed of some single degree-of-freedom motors, which results in large,
heavy and complicated structures. Therefore, multi-degree-of-freedom
actuators are expected to become a key technology to solve these problems
and many types of actuators have been studied. We have been developing a
3-DOF spherical actuator which can rotate around multi axes. In this paper,
to improve controllability, a new compensation method which cancels out the
cogging torque is proposed and the effectiveness of the control method is
verified through 3D-FEM and measurements using a prototype.
Keywords: Spherical actuator, 3-DOF, cogging torque, position control
