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

Koichi Matsuda, Shinya Kijimoto

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトルProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
ページ1596-1602
ページ数7
DOI
出版ステータス出版済み - 12 1 2010
イベント36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, 米国
継続期間: 11 7 201011 10 2010

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

その他

その他36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
国/地域米国
CityGlendale, AZ
Period11/7/1011/10/10

All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • 電子工学および電気工学

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