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Noncontact Hold and Transfer Control by a Two-link Robot Arm with a Magnetic Robot Hand
Hiroyuki Kojima, Osamu Itagaki and Toshio Kobayashi
Department of Mechanical System Engineering, Gunma University, Kiryu, Gunma 376-8515, Japan
Received:October 23, 1998Accepted:June 16, 1999Published:August 20, 1999
Keywords:magnetic robot hand, noncontact hold and transfer control, robot arm, H∞ control, gap sensor
We developed a two-link robot arm with a magnetic hand constructed from an electromagnet and a gap sensor. The sensor consists of an excitation current sensor and a Hall element. We then designed noncontact hold and transfer control consisting of a magnetic H∞ robust levitation controller of the steel sphere using the robot hand and a high-precision tracking controller using a disturbance cancellation controller based on a disturbance observer. The magnetic H∞ robust levitation controller is designed using normalized caprice factorization. We conducted an experiments on non contact hold and transfer control of the steel sphere and demonstrated the high performance of control using the 2-link robot arm and the magnetic robot hand.
Cite this article as:H. Kojima, O. Itagaki, and T. Kobayashi, “Noncontact Hold and Transfer Control by a Two-link Robot Arm with a Magnetic Robot Hand,” J. Robot. Mechatron., Vol.11 No.4, pp. 331-335, 1999.Data files:
Copyright© 1999 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.