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System and method for controlling a variable reluctance spherical motor

  • US 5,402,049 A
  • Filed: 12/18/1992
  • Issued: 03/28/1995
  • Est. Priority Date: 12/18/1992
  • Status: Expired due to Fees
First Claim
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1. A system for controlling a spherical motor having a spherical stator concentric with a spherical rotor and actuation means for controlling relative movement between the stator and the rotor, comprising:

  • a computer system having a digital signal processor for processing digital image data, a communications port for communication with a host computer, a ROM for receiving a program for operating said computer system from said host computer, and a RAM for receiving and running said program;

    an imaging system in communication with said computer system, said imaging system having an image sensor for receiving an image from an illuminated object, an analog-to-digital converter for converting said image to digital image data, and a video buffer for storing said digital image data and for writing said digital image data to said computer system;

    means for selectively causing said imaging system to discard pixel areas of said image which are outside of a pertinent pixel area containing said object, said pixel area defined by selectable rows and selectable columns, and for directly transferring said pertinent pixel area to said digital signal processor;

    means for determining torques to be applied by said stator upon said rotor to achieve a desired rotor trajectory; and

    means for controlling said actuation means to achieve said torques.

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