3D positional control of magnetic levitation system using adaptive control: improvement of positioning control in horizontal plane

Toshimasa Nishino; Yasuhiro Fujitani; Norihiko Kato; Naoaki Tsuda; Yoshihiko Nomura; Hirokazu Matsui

doi:10.1117/12.907722

23 January 2012 3D positional control of magnetic levitation system using adaptive control: improvement of positioning control in horizontal plane

Toshimasa Nishino, Yasuhiro Fujitani, Norihiko Kato, Naoaki Tsuda, Yoshihiko Nomura, Hirokazu Matsui

Author Affiliations +

Proceedings Volume 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques; 83010K (2012) https://doi.org/10.1117/12.907722
Event: IS&T/SPIE Electronic Imaging, 2012, Burlingame, California, United States

Abstract

The objective of this paper is to establish a technique that levitates and conveys a hand, a kind of micro-robot, by applying magnetic forces: the hand is assumed to have a function of holding and detaching the objects. The equipment to be used in our experiments consists of four pole-pieces of electromagnets, and is expected to work as a 4DOF drive unit within some restricted range of 3D space: the three DOF are corresponding to 3D positional control and the remaining one DOF, rotational oscillation damping control. Having used the same equipment, Khamesee et al. had manipulated the impressed voltages on the four electric magnetics by a PID controller by the use of the feedback signal of the hand's 3D position, the controlled variable. However, in this system, there were some problems remaining: in the horizontal direction, when translating the hand out of restricted region, positional control performance was suddenly degraded. The authors propose a method to apply an adaptive control to the horizontal directional control. It is expected that the technique to be presented in this paper contributes not only to the improvement of the response characteristic but also to widening the applicable range in the horizontal directional control.

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Toshimasa Nishino, Yasuhiro Fujitani, Norihiko Kato, Naoaki Tsuda, Yoshihiko Nomura, and Hirokazu Matsui "3D positional control of magnetic levitation system using adaptive control: improvement of positioning control in horizontal plane", Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 83010K (23 January 2012); https://doi.org/10.1117/12.907722

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KEYWORDS

Magnetism

Control systems

Adaptive control

Robots

Feedback signals

Control systems design

Space robots

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