• Liang YanEmail author
  • I-Ming Chen
  • Chee Kian Lim
  • Guilin Yang
  • Kok-Meng Lee
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 4)


This monograph has presented study on a permanent magnet spherical actuator with the following tasks: (1) formulation of the magnetic field produced by the PM-pole rotor; (2) torque modeling of the spherical actuator; (3) design and prototyping of the spherical actuator; (4) experimental investigation on the magnetic field distribution and torque variation; (5) investigation of a non-contact orientation measurement method base on laser detection. All these works are fundamental and critical to the position and velocity servo control of the PM spherical actuator. This chapter summaries the works that have been accomplished, and also recommends the future research topics.


Current Input Torque Output Rotor Surface Torque Variation Backstepping Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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  1. 1.
    Lee K M, Sosseh R A et al (2002) Effects of Fixture Dynamics on Back-stepping Control of a VR Spherical Motor. Proceedings of the 2nd IFAC Conference on Mechatronic Systems, Berkeley, California, USA, 9–11 December 2002. Google Scholar
  2. 2.
    Sosseh R A (2001) Finite Element Torque Modeling and Backstepping Control of a Spherical Motor. Thesis of Georgia Institute of Technology, GA, USA, December 2001. Google Scholar
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    Garner H D (2001) Development of a Real-time Vision Based Absolute Orientation Sensor. Thesis of Georgia Institute of Technology, GA, USA, May 2001. Google Scholar
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Copyright information

© Springer Science+Business Media B.V. 2011

Authors and Affiliations

  • Liang Yan
    • 1
    Email author
  • I-Ming Chen
    • 2
  • Chee Kian Lim
    • 3
  • Guilin Yang
    • 4
  • Kok-Meng Lee
    • 5
  1. 1.School of Automation Science and Electrical EngineeringBeihang UniversityBeijingPeople’s Republic of China
  2. 2.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore
  3. 3.School of Mechanical & Aeronautical EngineeringSingapore PolytechnicSingaporeSingapore
  4. 4.Singapore Institute of Manufacturing TechnologyNanyangSingapore
  5. 5.Georgia Institute of TechnologyAtlantaUSA

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