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This book introduces and illustrates modeling, sensing, and control methods for analyzing, designing, and developing spherical motors. It systematically presents modelsfor 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 motorsforce/torque manipulation capability, and proposes algorithms enabling the ball-joint-like end-effector for haptic use based on these motorshybrid 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.

Rapid advances of intelligent machines for amsrt manufacturing equipment,driverless vehicles,robotics,and medical industries continue to motivate new designs and app;ocations of multi-degree-of-freedom(DOF) actuators capable of complex motion and precise force/torque manipulations to complete tasks that have never been automated before.Extensive efforts to develop novel actuators with compact designs and designs and dexterous manipulations can be found in both academic research and indusrial development.Unlike multi-DOF systems with designs based on bulky serial/parallel combinations cf single-axis spin motors and transmission mechanisms,spherical motors/actuators are direct-drive and can achieve multi-DOF rotational motions in a single ball joint,because of these attractive features,along with the structural simplicity and the capability to achieve quick singularity-free motion,spherical motors are expected to play a significant role in the developmet of intelligent machines.

In this book,we procide fundamentals for practical designs of spherical motors with the intent to push forward the development of high-performance spherical motos.This book is orgajized into three parts: The first part begins with the methods for modeling the three-dimensonal(3D)electromagnetic fields involved in a spherical motor,and the multi-dimensional foces and torques generated electromechanically between its rotor and stator.The second part presents the sensing techniques for measuring the multi-DOF joint motion in real time.The third part offers methods for controlling the coupled rotational motions of spherical motots.While this book is primmarily intended for students,researchers,and endineers studying/developing spherical motors,those who work in the area of electric machines should find teh modeling.sensing and control methods presented here relevant to the development of various electromagntic motion systems.

This book is an outcome of the research work accomplished by the authors on spherical motors over the years in Georgia Institute of Technology (USA) and Huazhong University of Science and Technology (China). The authors sincerely appreciate the institutional support received from the two organizations. Part of the work on DMP model and orientation sensing has also built on research works by many former students,particularly Dr.Hungsun son and Dr.Shaohui Foong,durng their studies at Georgia Institute of Technology.

白坤，男，博士，華中科技大學(xué)副教授。本科畢業(yè)于浙江大學(xué)控制科學(xué)與工程系；2012年于美國佐治亞理工學(xué)院(Georgia Institute ofTechnology)機械系取得博士學(xué)位；目前在數(shù)字制造裝備與技術(shù)國家重點實驗室進(jìn)行科研工作。?? ? 主要從事機電系統(tǒng)、控制系統(tǒng)、驅(qū)動器和傳感的研究，相關(guān)成果發(fā)表SCI、EI收錄文章20余次，目前主持國家自然科學(xué)基金項目2項，作為主要成員參加國家重點基礎(chǔ)研究發(fā)展計劃（973）項目1項。擔(dān)任IEEE和ASME多個期刊和會議的審稿人，也多次在國際會議做報告并受邀擔(dān)任分會主席。?? 李國民，美國麻省理工學(xué)院博士，美國總統(tǒng)獎獲得者，IEEE Fellow、ASME Fellow、IEEE/ASME Transactions on Mechatronics（TMech）主編 (2008-2013)。美國佐治亞理工學(xué)院任終身教授、華中科技大學(xué)教授，973項目首席科學(xué)家。主要研究領(lǐng)域為智能制造裝備與技術(shù)、智能傳感及驅(qū)動、復(fù)雜機電系統(tǒng)。主持與智能制造密切相關(guān)的美國自然科學(xué)基金、國際合作項目十余項。在智能傳感器、靈巧驅(qū)動器、機器視覺、多變量熱-流耦合過程建模與控制等領(lǐng)域取得系列成果，并廣泛應(yīng)用于制造工業(yè)中的檢測、定位與控制、場重構(gòu)、分布參數(shù)建模與控制等方面。發(fā)表相關(guān)論文250余篇，參與出版英文專著3部，授權(quán)美國與國際專利10項。于2008創(chuàng)立TMech Best Paper Award，同年作為IEEE/ASME AIM國際會議的共同成立者，受ASME/DSCD-Mechatronics TC（機電一體化委員會）支持，創(chuàng)立 (Best Paper and Best Student Paper Awards in Mechatronics) 兩個獎項。

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