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

Xuerong LiShaoping BaiWeihai ChenJingmeng Liu
Published in: CIS/RAM (2017)
Keyphrases
  • parallel manipulator
  • dynamic model
  • spherical harmonics
  • spherical images
  • three dimensional
  • optimization algorithm
  • global optimization
  • viewpoint
  • magnetic field
  • experimental data
  • inverse dynamics