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A Position Control for a Parallel Stage with 6 degrees of freedom Using Magnetic Actuators  

Lee Se-Han (경남대학교 기계자동차공학부)
Publication Information
Journal of the Korean Society for Precision Engineering / v.22, no.7, 2005 , pp. 102-111 More about this Journal
Abstract
In this paper, we address a position control for a parallel stage, which is levitated and driven by electric magnetic force. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal force. A dynamic equation of the stage system is derived based on Newton-Euler method and it's special Jacobian matrix describing a relation between the limited velocity and Cartesian velocity is done. There are proposed two control methods for positioning which are Cartesian space controller and Actuator space controller. The control performance of the Cartesian space controller is better than the Actuator space controller in task space trajectory while the Actuator space controller is simpler than the Cartesian space controller in controller realization.
Keywords
Magnetic levitation; Position control; Cartesian space control; Actuator(Joint) space control;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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