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High-speed digital controller for magnetic servo levitation of robot mechanisms

  • Section 2: Design
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Book cover Experimental Robotics I

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 139))

Abstract

Magnetic levitation has the strong potential to be a precision force/position-controllable actuator with inherent force-sensing capability in itself. We call such a system magnetic servo levitation to distinguish it from conventional magnetic suspension-only levitation. Magnetic levitation inherently has strong instability and needs high-speed closed-loop control. There were few applications of magnetic servo levitation because high-speed digital controllers were not available. The authors developed a digital controller using a digital signal processor, and experimentally verified that magnetic servo levitation is promising and realizable by the state-of-the-art device technology.

M. Tsuda, a Ph.D. candidate at the Institute of Industrial Science, University of Tokyo, is presently a visiting researcher at the Center for Robotic Systems in Microelectronics, University of California, Santa Barbara, for collaborative research of the two institutions.

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Author information

Authors and Affiliations

  1. Institute of Industrial Science, University of Tokyo, Roppongi, Minato-ku, 106, Tokyo, Japan

    Masahiro Tsuda & Toshiro Higuchi

  2. Center for Robotic Systems in Microelectronics, University of California, Santa Barbara, 93106, Santa Barbara, CA, USA

    Masahiro Tsuda & Yoshihiko Nakamura

Authors
  1. Masahiro Tsuda
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  2. Yoshihiko Nakamura
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  3. Toshiro Higuchi
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Editor information

Vincent Hayward Oussama Khatib

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© 1990 Springer-Verlag

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Tsuda, M., Nakamura, Y., Higuchi, T. (1990). High-speed digital controller for magnetic servo levitation of robot mechanisms. In: Hayward, V., Khatib, O. (eds) Experimental Robotics I. Lecture Notes in Control and Information Sciences, vol 139. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0042523

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  • DOI: https://doi.org/10.1007/BFb0042523

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-52182-2

  • Online ISBN: 978-3-540-46917-9

  • eBook Packages: Springer Book Archive

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