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This paper presented the motion control algorithm based on quaternion rotation for a permanent magnet spherical stepper motor (PMSSM) designed by Gregory S. Chirikjian and David Stein et al. The movement of the rotor was achieved by controlling the current states of the stator coils with relays. While one arbitrary point on the surface of the rotor was expected to move to another appointed one, combining...
This paper presented the motion control algorithm based on quaternion rotation for a permanent magnet spherical stepper motor (PMSSM) designed by Gregory S. Chirikjian and David Stein et al. The movement of the rotor was achieved by controlling the current states of the stator coils with relays. While one arbitrary point on the surface of the rotor was expected to move to another appointed one, combining...
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