単極型磁気ロボットハンドシステムによる非接触把持搬送制御に関する研究 : 正規化既約分解法に基づくH_∞制御法と外乱オブザーバを用いた制御システムの設計と実験

概要

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In this paper, the equations of motion of the non-contact hold and transfer control system of a spherical magnetic body using a one-pole-type magnetic robot hand system are derived. The robot hand system consists of a two-link robot arm and a one-pole-type magnetic hand. The Iinearized state equation and the linearized output equation of the magnetic robot hand, are derived and the controllability and observability are then clarihed. The non-contact hold control system by the magnetic robot hand is then constructed using H_∞ control based on the normalized coprime factorization method, and the tracking control system of the robot arm is constructed using the disturbance observer. It is confirmed from the experimental results that the non-contact hold and transfer control of the spherical magnetic body can be implemented well using the present control system.
一般社団法人日本機械学会の論文
1997-11-25