低相数2自由度球面アクチュエータの制御

抄録

　The development of spherical actuators for robots and electric devices are expected in the manipulation of machines that have multi degrees of freedom. We have developed a 2-degree-of-freedom outer rotor spherical actuator for writs of robots. In this paper, we propose a new control method to reduce the number of current phases and verify the control method through dynamic analysis and measurements on a prototype.