An intelligent control structure for highly dynamic driving of a spherical electrical drive

摘要

In the context of a research project of the group for control engineering and automotive mechatronics from Ostfalia University a highly dynamic system comprising a spherical electrical drive is to be developed in a model based manner [1]. This system is to be used as the core actuation element of a service platform called the S-Mobile. The S-Mobile can be used for example as a service robot for interaction in humanoid environment or as the traction element of mobility equipment for disabled people.