ロボットアームの先端に取り付けられた電磁石による物体の磁気浮上ニューロ適応制御に関する研究

抄録

In this paper, the magnetic levitation neuro-adaptive control method of a body by use of an electromagnet attached to a vertical robot with a prismatic joint is presented, and the usefulness of the present control method is confirmed by experiment and numerical simulation. When the gap between the levitated body and the electromagnet hand varies, an adaptive control method to compensate the nonlinear characteristics of the magnetic attracting force is desirable. The magnetic levitation neuro-adaptive control system consists of a PD feedback control loop and an adaptive mechanism based on a neural network. From the experimental results and the numerical simulation results, it is confirmed that the levitated body can be controlled successfully by the present magnetic levitation neuro-adaptive control method.