Abstract
In this paper, we propose the estimation of three-dimensional position of levitated object, in order to apply magnetic levitation to non-contact robot hand. In order to estimate three-dimensional position of levitated object, four hall elements are integrated to electromagnet. The relationship equations between four hall voltages, current and three-dimensional position are derived. These parameters are identified by the pre-experiment. Three-dimensional position is estimated by observer using those relationship equations. Vertical position control is realized by state-feedback control by using estimated vertical position. The validity of the proposed method is confirmed by experiment and simulation.
