Introduction -- Part One: Modelling Methods for PMSMs -- Distributed Multi-Pole Models -- Magnetic Force/Torque Model for Real-Time Control -- Part Two: Sensing Methods for PMSMs -- Field-Based Orientation Sensing -- A Back-EMF for Multi-DOF Method on a PMSM -- Part 3: Control Methods for PMSMs -- Direct Field-Feedback Control -- A Two-mode Six-DOF Motion System based on a Ball-joint-like PMSM for Haptic Applications. .

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