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Proceedings Paper

3D positional control of magnetic levitation system using adaptive control: improvement of positioning control in horizontal plane
Author(s): Toshimasa Nishino; Yasuhiro Fujitani; Norihiko Kato; Naoaki Tsuda; Yoshihiko Nomura; Hirokazu Matsui
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Paper 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.

Paper Details

Date Published: 23 January 2012
PDF: 6 pages
Proc. SPIE 8301, Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques, 83010K (23 January 2012); doi: 10.1117/12.907722
Show Author Affiliations
Toshimasa Nishino, Toshiba Industrial Products Manufacturing Corp. (Japan)
Yasuhiro Fujitani, Mie Univ. (Japan)
Norihiko Kato, Mie Univ. (Japan)
Naoaki Tsuda, Wakayama National College of Technology (Japan)
Yoshihiko Nomura, Mie Univ. (Japan)
Hirokazu Matsui, Mie Univ. (Japan)

Published in SPIE Proceedings Vol. 8301:
Intelligent Robots and Computer Vision XXIX: Algorithms and Techniques
Juha Röning; David P. Casasent, Editor(s)

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