Torque modelling and current optimization of a spherical actuator built as an electro-magnets driven spherical parallel manipulator

This paper presents a novel design of a spherical actuator built as an electro-magnets driven spherical parallel manipulator which produces 3-DOF rotational motion within the workspace. The inverse kinematics and dynamics of spherical parallel manipulator are described. The torque modelling and the current optimization control of spherical parallel manipulators are developed. Simulation results are included to demonstrate the validity of the developed models.

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