We have formulated and implemented a control system for levitation and motion control of a disk magnet using a planar array of electromagnetic coils and an optical localizer to provide real time position feedback. The significance of this work is that this is the first magnetic levitation system which controls the orientation and position of a levitated body throughout a workspace volume whose dimensions are multiples of those of the levitated body in all directions. Furthermore, the horizontal range of motion can be extended indefinitely by adding more coils to the planar array. The potential applications of this levitation system include any robotic manipulation and positioning tasks such as camera and antenna pointing, materials handling and processing, and haptic interaction. Analysis methods, implementation details, and experimental results are given for our current system with a 37.5 mm diameter and 12.5 mm height magnet and 10 actuator coils, providing an 80×60×30 mm range of motion.
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ASME 2008 Dynamic Systems and Control Conference
October 20–22, 2008
Ann Arbor, Michigan, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-4335-2
PROCEEDINGS PAPER
Magnet Levitation and Trajectory Following Motion Control Using a Planar Array of Cylindrical Coils
Peter Berkelman,
Peter Berkelman
University of Hawaii-Manoa, Honolulu, HI
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Michael Dzadovsky
Michael Dzadovsky
University of Hawaii-Manoa, Honolulu, HI
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Peter Berkelman
University of Hawaii-Manoa, Honolulu, HI
Michael Dzadovsky
University of Hawaii-Manoa, Honolulu, HI
Paper No:
DSCC2008-2229, pp. 923-930; 8 pages
Published Online:
June 29, 2009
Citation
Berkelman, P, & Dzadovsky, M. "Magnet Levitation and Trajectory Following Motion Control Using a Planar Array of Cylindrical Coils." Proceedings of the ASME 2008 Dynamic Systems and Control Conference. ASME 2008 Dynamic Systems and Control Conference, Parts A and B. Ann Arbor, Michigan, USA. October 20–22, 2008. pp. 923-930. ASME. https://doi.org/10.1115/DSCC2008-2229
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