Permanent Magnet Spherical Motors

Model and Field Based Approaches for Design, Sensing and Control

  • Kun Bai
  • Kok-Meng Lee

Part of the Research on Intelligent Manufacturing book series (REINMA)

Table of contents

  1. Front Matter
    Pages i-xii
  2. Kun Bai, Kok-Meng Lee
    Pages 1-17
  3. Modeling Methods

    1. Front Matter
      Pages 19-19
    2. Kun Bai, Kok-Meng Lee
      Pages 21-30
    3. Kun Bai, Kok-Meng Lee
      Pages 31-80
    4. Kun Bai, Kok-Meng Lee
      Pages 81-95
  4. Sensing Methods

    1. Front Matter
      Pages 97-97
    2. Kun Bai, Kok-Meng Lee
      Pages 99-107
    3. Kun Bai, Kok-Meng Lee
      Pages 109-122
  5. Control Methods

    1. Front Matter
      Pages 123-123
    2. Kun Bai, Kok-Meng Lee
      Pages 125-150
    3. Kun Bai, Kok-Meng Lee
      Pages 151-164

About this book


This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents models for establishing the relationships among the magnetic fields, position/orientation and force/torque, while also providing time-efficient solutions to assist researchers and engineers in studying and developing these motors. In order to take full advantage of spherical motors’ compact structure in practical applications, sensing and control methods that utilize their magnetic fields and eliminate the need to install external sensors for feedback are proposed. Further, the book investigates for the first time spherical motors’ force/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motors’ hybrid position/force actuation modes. While systematically presenting approaches to their design, sensing and control, the book also provides many examples illustrating the implementation issues readers may encounter.


Spherical motors Joint motors Multi-DOF motion systems Force/torque manipulation PMSM Electromagnetic System PMSM rotor dynamic system Multi-pole models Magnetic force/torque model Real-time control

Authors and affiliations

  • Kun Bai
    • 1
  • Kok-Meng Lee
    • 2
  1. 1.Huazhong University of Science and TechnologyWuhanChina
  2. 2.Georgia Institute of TechnologyAtlantaUSA

Bibliographic information

  • DOI
  • Copyright Information Huazhong University of Science and Technology Press, Wuhan and Springer Nature Singapore Pte Ltd. 2018
  • Publisher Name Springer, Singapore
  • eBook Packages Engineering
  • Print ISBN 978-981-10-7961-0
  • Online ISBN 978-981-10-7962-7
  • Series Print ISSN 2523-3386
  • Series Online ISSN 2523-3394
  • Buy this book on publisher's site