Robust control of a planar manipulator for flexible and contactless handling |
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| Authors: | Anne Delettre Guillaume J. Laurent Yassine Haddab Nadine Le Fort-Piat |
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| Affiliation: | 1. Institute of Space and Astronautical Science (ISAS), Japan Aerospace Exploration Agency (JAXA), Japan;2. 3-1-1 Yoshinodai, Chuo, Sagamihara, Kanagawa 252-5210, Japan;3. Kavli Institute for the Physics and Mathematics of the Universe, The University of Tokyo, 5-1-5 Kashiwanoha, Kashiwa, Chiba 277-8583 Japan;4. University of Tokyo, Department of Physics, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan;5. University of Tokyo, Department of Astronomy, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-0033, Japan |
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| Abstract: | Many industries require non-contact and flexible manipulation systems, such as magnetic or pneumatic devices. In this paper, we describe a one-degree-of-freedom position control of an induced-air flow surface. This device allows to convey objects on an air cushion using an original aerodynamic traction principle. A model of the system is established and the parameters are identified experimentally. A H∞ robust controller is designed and implemented on the device in order to control the object position. Experiments with objects of various dimensions and materials are conducted and showed the robustness capabilities of the controller. |
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