High Speed Non-Contact Object Handling Using Magnetic Levitation and Tilt Control

Yusuke Kuruma; Akio Yamamoto; Toshiro Higuchi

doi:10.4028/www.scientific.net/AMM.162.471

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 162High Speed Non-Contact Object Handling Using...

High Speed Non-Contact Object Handling Using Magnetic Levitation and Tilt Control

Abstract:

This paper describes high speed non-contact object handling with one degree-of-freedom magnetic levitation. Feed-forward tilt control using an industrial robot realizes large acceleration and tilt angle. Experimental results demonstrate the transportation with the maximum acceleration of 7.31 m/s²and maximum tilt angle of 36^o. This acceleration is seven times higher than the previously performed experiments. Tracking error associated with high speed motion causes lateral vibration of the object. This paper also introduces iterative learning control (ILC) to improve trajectory tracking. Experimental results show that ILC reduces the tracking error; nevertheless the lateral vibration still remains.

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Periodical:

Applied Mechanics and Materials (Volume 162)

Pages:

471-476

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.162.471

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Online since:

March 2012

Authors:

Yusuke Kuruma, Akio Yamamoto, Toshiro Higuchi

Keywords:

Industrial Robot, Magnetic Levitation, Non-Contact Object Handling, Pick Up, Placing, Tilt Control

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