Input amplitude modulation control for a multi-degree of freedom electromagnetic machine

A multi-degree-of-freedom electromagnetic machine, comprising:

• a spherical stator having a first axis of symmetry, a second axis of symmetry, and a third axis of symmetry, the first, second, and third axes of symmetry disposed perpendicular to each other;
• a first stator conductor disposed on the spherical structure about the first axis of symmetry;
• a second stator conductor disposed on the spherical structure about the second axis of symmetry;
• a third stator conductor disposed on the spherical structure about the third axis of symmetry;
• an armature disposed adjacent to, and movable relative to, the spherical stator, the armature including an armature conductor and a plurality of magnets, each magnet having at least one of its magnetic poles facing the surface;
• and
• a control coupled to the first stator conductor, the second stator conductor, and the third stator conductor, the control configured to:
• (i) supply direct current (DC) to the first, second, and third stator conductors, and
• (ii) selectively amplitude modulate the DC supplied to one or more of the first, second, and third stator conductors, to thereby electromagnetically couple the armature conductor to the one or more first, second, and third stator conductors.

A method of controlling a multi-degree-of-freedom electromagnetic machine that includes a stator and an structure, wherein the stator includes a first stator conductor, a second stator conductor, and a third stator conductor, where the first stator conductor follows a first general trajectory, the second stator conductor follows a second general trajectory that is different from the first general trajectory, the third stator conductor follows a third general trajectory that is different from the first and second general trajectories, and where the first stator conductor, the second stator conductor, and the third stator conductor together form a general shape of a surface;

• and wherein the armature is disposed adjacent to, and is movable relative to, the stator and includes an armature conductor and a plurality of magnets, each magnet having at least one of its magnetic poles facing the surface, the method comprising the steps of:
• controllably supplying direct current (DC) to one or more of the first, second, and third stator conductors;
• and
• selectively amplitude modulating the DC supplied to one or more of the first, second, and third stator conductors, to thereby induce current in the armature conductor.