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

Xuerong Li, Shaoping Bai, Weihai Chen, Jingmeng Liu. Torque modelling and current optimization of a spherical actuator built as an electro-magnets driven spherical parallel manipulator. In 2017 IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Ningbo, China, November 19-21, 2017. pages 626-631, IEEE, 2017. [doi]

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