Abstract
In this paper, the actuator parameters are identified for design of control system. This actuator was proposed for realizing flexible motion of a human being. The actuator is made by connecting a number of actuator units. The actuator unit is composed of two disks connected by a universal joint, and the two disks are made by an aluminum case and an iron core. A four-pole electromagnet is placed on the lower disk, and four permanent magnets are combined with the pole face. The necessary parameters for design of control system are identified by comparison between measured angle and calculated angle, and comparison between measured angle velocity and calculated angle velocity. The result shows that the calculated value with identified parameters are correspond to the measured value.
