Design and control of the 3 degrees of freedom actuator by controlling the electromagnetic force

The novel spherical actuator with 3 D.O.F. and its control method are proposed. The proposed 3 D.O.F. spherical actuator is composed of the rotor and the stator which have the multi-poles made with the permanent magnets and the electromagnets, respectively. The rotor can make an arbitrary orientation and a spin by interactions among multi-poles of the rotor and the stator. Also the governing equation for torque generation is derived to control the suggested model. This model is controlled with the suggested governing equation and PID control law. The various experimental results are presented to show the validity of the proposed spherical actuator.