This paper presents a spherical motor driven by electro-magnets that can rotate omnidirectionally with some degrees of rotation angle error independent of rotation direction. The spherical motor is composed of a spherical rotor, a semi-spherical stator, a control PC, a control circuit, and a DC power supply. The rotor has 92 neodymium magnets. On the other hand, 84 electro-magnets are arranged on the stator. Each electro-magnet can be excited to north or south magnetic pole. The control PC calculates the posture of the rotor after a small time interval and generates the pattern of excitation of electro-magnets in order to rotate the rotor to its calculated posture. The results of the performance of the developed spherical motor show that the maximum torque is 0.24 ($N{cdot}m$), the maximum rotation speed is 2.5 (rad/s), and the average error of rotation angle is several degrees.