I have a big equation that must be placed at the bottom of the page in a two columns paper. The call of the equation is at the end of the first column of a given page, but no matter what place holder I set([h!],[ht],etc), the equation goes to the next page. When I use [H] the equation dont even appear in the document.
I am using...
\documentclass[journal]{IEEEtran}
...
\usepackage{dblfloatfix}
...
The rotational torque that each motor generates is based on the signal compositions with the servomotor tilting angles. Thus, considering $ \dl = l \frac {\sqrt {2}} {2} $ and the right hand rule, resultant propulsion forces and torques on the $ \Fb $ are presented in Equation (\ref{eq1:gen_forces_torquesa}), suppressing the term $ (t) $:
\begin{figure*}[h!]
\begin{minipage}{.6\textwidth}
\begin{eqnarray} \label{eq1:gen_forces_torquesa}
\bm{\tau^b_p} &=&
\left(\begin{array}{cccccc}
X_{p}^{b} & Y_{p}^{b} & Z_{p}^{b} & L_{p}^{b} & M_{p}^{b} & N_{p}^{b}
\end{array}
\right)^T = \nonumber \\
&=&
\left(\begin{array}{c}
k_1\delta_1s(\gamma_1) + k_1\delta_2s(\gamma_2) + k_1\delta_3s(\gamma_3) + k_1\delta_4s(\gamma_4) \\
0 \\
-k_1\delta_1c(\gamma_1) - k_1\delta_2c(\gamma_2) - k_1\delta_3c(\gamma_3) - k_1\delta_4c(\gamma_4) \\
(-k_1\dl c(\gamma_1) - k_2s(\gamma_1))\delta_1 + (k_1\dl c(\gamma_2) - k_2s(\gamma_2))\delta_2 + (k_1\dl c(\gamma_3) + k_2s(\gamma_3))\delta_3 + (-k_1\dl c(\gamma_4) + k_2s(\gamma_4))\delta_4 \\
A_2 \\
A_3
\end{array}
\right) \nonumber \\
\end{eqnarray}
\end{minipage}
\end{figure*}
