抄録
This paper reports a planar induction motor that can output 70N translational thrust and 9Nm torque with a response time of 10ms and three practical systems using the motor. This motor consists of three linear induction armatures with vector control drivers. The motor is used with a position and orientation sensing system employing three optical mouse sensors. Distribution of the force commands and implementation are discussed. To confirm usefulness of the motor, three applications were developed; a planar inverted pendulum, a mobile base with a laser range finder reacting to human motion, and a carriage acceleration system built in floor. Experimental results indicate potential of the planar motor and ideas to use it.
