Coarse-fine residual gravity cancellation system with magnetic levitation

TitleCoarse-fine residual gravity cancellation system with magnetic levitation
Publication TypeConference Paper
Year of Publication1992
AuthorsSalcudean, S. E., H. Davis, C. T. Chen, D. E. Goertz, and B. V. Tryggvason
Conference NameRobotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Pagination1641 -1647 vol.2
Date Publishedmay.
Keywordscoarse-fine residual gravity cancellation system, feedback, levitated platform, magnetic gaps, magnetic levitation, magnetically levitated robot wrist, physical instrumentation control, PUMA 500, residual acceleration cancellation, robots, vibration control, vibration isolation, wide-gap voice-coil actuators, zero-gravity parabolic flights

The authors describe a six degree-of-freedom active experiment isolation system designed to cancel out residual accelerations during zero-gravity parabolic flights. The isolation system consists of a fine-motion magnetic levitator whose stator is transported by a conventional coarse-motion stage or by a robot. The levitator uses wide-gap voice-coil actuators and has the dual purpose of isolating the experiment platform from aircraft vibrations and actively cancelling residual accelerations through feedback control. The robot tracks the levitated platform to keep the levitator's coils centered within their matching magnetic gaps. Aspects of system design, an analysis of the proposed control strategy. and simulation results are presented. Feasibility experiments using a PUMA 500 and a magnetically levitated robot wrist are discussed


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