Control and design of the spherical pointing motor
| Title | Control and design of the spherical pointing motor |
| Publication Type | Conference Papers |
| Year of Publication | 1993 |
| Authors | Bederson BB, Wallace RS, Schwartz EL |
| Conference Name | , 1993 IEEE International Conference on Robotics and Automation, 1993. Proceedings |
| Date Published | 1993/05/02/6 |
| Publisher | IEEE |
| ISBN Number | 0-8186-3450-2 |
| Keywords | absolute positioning device, Actuators, camera sensor, CAMERAS, Coils, electric actuators, electric motors, Magnetic field measurement, Magnetic sensors, Open loop systems, open-loop control, orthogonal coils, pan-tilt actuator, permanent magnet, Permanent magnet motors, Permanent magnets, position control, Scanning probe microscopy, second order system, spherical pointing motor, velocity control, Velocity measurement, velocity measurements |
| Abstract | A miniature pan-tilt actuator, the spherical pointing motor (SPM) has been built. The SPM is an absolute positioning device, designed to orient a small camera sensor in two degrees-of-rotational-freedom. It is 4 cm×5 cm×6 cm and weighs 160 g. The operating principle of the SPM is to orient a permanent magnet to the magnetic field induced by three orthogonal coils by applying the appropriate ratio of currents to the coils. The open-loop control and design of the SPM are described. Physical characteristics and velocity measurements of the prototype are reported. The SPM is modeled with a simple second order system. Without control, it oscillates substantially when a single impulse is applied. By applying a second impulse without feedback, the oscillation can be reduced by as much as a factor of ten |
| DOI | 10.1109/ROBOT.1993.291888 |