Six-Axis Magnetic Levitation and Motion Control

This paper presents the development of a compact six-axis magnetic levitation stage, including the design and implementation of magnetic actuators, laser interferometer motion sensors, and motion controllers. The designed travel volume of the stage is 2times2times2 mm in translation and 4degtimes4de...

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Bibliographic Details
Published in:IEEE transactions on robotics 2007-04, Vol.23 (2), p.196-205
Main Authors: Zhang, Zhipeng, Menq, Chia-Hsiang
Format: Article
Language:English
Subjects:
Actuators
Applied sciences
Computer architecture
Computer science
control theory
systems
Control system synthesis
Control theory. Systems
Controllers
Distributed computing
Dynamical systems
Dynamics
Exact sciences and technology
Experiments
Force feedback
Fundamental areas of phenomenology (including applications)
Hydraulic actuators
Laser feedback
Lasers
Loop shaping
Lorentz force
Magnetic levitation
Magnetic levitation systems
Magnetic sensors
Motion control
Motion measurement
Nanostructure
Optical design
Physics
precision control
Rigid-body dynamics
Robotics
Robots
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
Stability
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Summary:This paper presents the development of a compact six-axis magnetic levitation stage, including the design and implementation of magnetic actuators, laser interferometer motion sensors, and motion controllers. The designed travel volume of the stage is 2times2times2 mm in translation and 4degtimes4degtimes4deg in rotation. A two-axis linear actuator, based on the magnetic Lorentz force law, was designed, and three two-axis actuators, equivalent to six single -axis actuators, were implemented to achieve six-axis actuation. A high-resolution laser interferometer measurement system was implemented and employed to measure the six-axis motion of the stage, facilitating real-time feedback control. Feedback linearization, based on rigid-body dynamics of the levitated stage, and force distribution were implemented in a computer-controlled architecture so as to establish a decoupled dynamics between the six computed inputs and the resulting six-axis motions. Constant gain controllers were then designed and implemented, according to the concept of loop shaping, for each of the six axes, and high positioning stability, 1.1 nm root mean square (RMS) for x and 0.74 nm RMS for y, has been achieved. Experimental results are presented to illustrate positioning stability, system linearity, dynamic response invariance, nano stepping, multiaxis contouring, and large rotational motion
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2007.892232