Figure 1 describes the experimental set-up used in this study. The system consists of a rotary table, a servo amplifier, and a personal computer with a DSP board. The rotary table is powered by an AC servo motor, spur gears, and a worm gear. Figure 2 illustrates the driving mechanism of the rotary table. Reduction ratios of the spur gears and the worm gear are 4/5 and 1/72, respectively. Consequently, the total reduction ratio becomes 1/90.
Experimental set-up