Reaction disturbance cancellation for a magnetically levitated ladder arm of clean-room robot

Koichi Matsuda, Shinya Kijimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper treats a disturbance cancellation problem for minimizing the effects of reaction forces on position accuracy of a clean-room robot applied with magnetic bearings. The robot is composed of a main body and a ladder arm, and moves without friction at joints owing to magnetic support. The support stiffness is, however, weaker than the conventional bearings, and the ladder arm moves in reaction to rotary motion of the main body. A feedforward controller is designed to compensate the effects of the reaction forces, and implemented successfully to reduce the transverse displacements of the ladder arm when the main body rotates.

Original languageEnglish
Title of host publicationProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
Pages1596-1602
Number of pages7
DOIs
Publication statusPublished - Dec 1 2010
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: Nov 7 2010Nov 10 2010

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period11/7/1011/10/10

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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