Motion analysis and control of the hybrid multi-DOF motor with taking account on design of motor shape

Abstract

There are many applications which need the multi-DOF system, such as robotics[1]-[4]. Generally, multi-DOF systems are comprised of many motors. Therefore, the systems are bigger and heavier because of these one more motors. It is not a problem using it in a large system like heavy industry, but a problem using it in a small system. For the multi-DOF motion in these small systems, the multi-DOF motor is the solution decreasing the system size. A multi-DOF motor has multi-DOF and it can be replaced one or more motors for multi-DOF motion. But a multi-DOF motor is complicated and difficult to control because it has many coils and magnets for the movement.