Magnetic servo levitation and its applications 磁気サーボ浮上とその応用に関する研究

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著者

    • 津田, 匡博 ツダ, マサヒロ

書誌事項

タイトル

Magnetic servo levitation and its applications

タイトル別名

磁気サーボ浮上とその応用に関する研究

著者名

津田, 匡博

著者別名

ツダ, マサヒロ

学位授与大学

東京大学

取得学位

工学博士

学位授与番号

甲第8992号

学位授与年月日

1991-03-29

注記・抄録

博士論文

目次

  1. ABSTRACT / p6 (0007.jp2)
  2. TABLE OF CONTENTS / p9 (0010.jp2)
  3. PART I Introduction / (0027.jp2)
  4. Chapter 1 Background and Motives / 1-1 / (0028.jp2)
  5. 1.1 Mechatronics and Factory Automation / 1-1 / (0028.jp2)
  6. 1.2 Magnetic Levitation / 1-4 / (0031.jp2)
  7. Chapter 2 What is Magnetic Servo Levitation? / 2-1 / (0037.jp2)
  8. 2.1 Definition of Magnetic Servo Levitation / 2-1 / (0037.jp2)
  9. 2.2 Comparison with Other Levitations / 2-4 / (0040.jp2)
  10. 2.3 Number of Controlled DOF / 2-6 / (0042.jp2)
  11. Chapter 3 Research Goals and Dissertation Organization / 3-1 / (0044.jp2)
  12. 3.1 Objectives of Research / 3-1 / (0044.jp2)
  13. 3.2 General Notational Convention / 3-3 / (0046.jp2)
  14. 3.3 Dissertation Organization / 3-4 / (0047.jp2)
  15. PART II Fundamental Technology for Magnetic Servo Levitation / (0050.jp2)
  16. Overview of Part II / 2-2 / (0051.jp2)
  17. Chapter 4 High-Speed Digital Controller / 4-1 / (0053.jp2)
  18. 4.1 Introduction / 4-1 / (0053.jp2)
  19. 4.2 A Single-DSP-based High-Speed Digital Controller / 4-4 / (0056.jp2)
  20. 4.3 A Multi-DSP-based High-Speed Digital Controller / 4-8 / (0060.jp2)
  21. 4.4 Summary / 4-12 / (0064.jp2)
  22. Chapter 5 Mathematical Model of Magnetic Servo Levitation / 5-1 / (0065.jp2)
  23. 5.1 Introduction / 5-1 / (0065.jp2)
  24. 5.2 Magnetic Levitation is a Positive-Force Control System / 5-2 / (0066.jp2)
  25. 5.3 Nonlinear Characteristics of Electromagnets / 5-12 / (0076.jp2)
  26. 5.4 Dynamics of Magnetic Servo Levitation / 5-19 / (0083.jp2)
  27. 5.5 Summary / 5-21 / (0085.jp2)
  28. Chapter 6 Design in Locating Electromagnets / 6-1 / (0087.jp2)
  29. 6.1 Introduction / 6-1 / (0087.jp2)
  30. 6.2 Definitions and Theorems of Linear Programming / 6-2 / (0088.jp2)
  31. 6.3 Minimum Number of Electromagnets / 6-8 / (0094.jp2)
  32. 6.4 A Necessary and Sufficient Condition of Electromagnet Location / 6-12 / (0098.jp2)
  33. 6.5 Summary and Discussion / 6-20 / (0106.jp2)
  34. Chapter 7 Hierarchical Control with Optimal Force Distribution for Minimum Power Consumption / 7-1 / (0107.jp2)
  35. 7.1 Introduction / 7-1 / (0107.jp2)
  36. 7.2 Background-Conventional Control with Approximate Linearization / 7-3 / (0109.jp2)
  37. 7.3 Hierarchical Control / 7-8 / (0114.jp2)
  38. 7.4 Optimal Force Distribution for Minimum Power Consumption / 7-9 / (0115.jp2)
  39. 7.5 Experimental Verification / 7-25 / (0131.jp2)
  40. 7.6 Summary and Discussion / 7-28 / (0134.jp2)
  41. Chapter 8 Adaptive Control and Identification Without Velocity Measurement / 8-1 / (0136.jp2)
  42. 8.1 Introduction / 8-1 / (0136.jp2)
  43. 8.2 Background-Adaptive Control with Velocity Measurement / 8-3 / (0138.jp2)
  44. 8.3 Adaptive Control Without Velocity Measurement / 8-9 / (0144.jp2)
  45. 8.4 Summary and Discussion / 8-19 / (0154.jp2)
  46. PART III Magnetically Supported Intelligent Hand(MSIH)for Flexible Precision Assembly / (0157.jp2)
  47. Overview of Part III / 3-2 / (0158.jp2)
  48. Chapter 9 Flexible Assembly Automation and Magnetic Servo Levitation / 9-1 / (0159.jp2)
  49. 9.1 Flexible Assembly and Insertion Operation / 9-1 / (0159.jp2)
  50. 9.2 Previous Research on Automated Insertion / 9-4 / (0162.jp2)
  51. 9.3 Application of Magnetic Servo Levitation for Robotic Endeffector / 9-12 / (0170.jp2)
  52. Chapter 10 Development of Magnetically Supported Intelligent Hand / 10-1 / (0172.jp2)
  53. 10.1 Concept of Magnetically Supported Intelligent Hand / 10-2 / (0173.jp2)
  54. 10.2 Three Functional Properties / 10-4 / (0175.jp2)
  55. 10.3 A Prototype of 5-DOF-controllable MSIH / 10-5 / (0176.jp2)
  56. 10.4 A Prototype of Planar-type MSIH with Moving Coil Motors / 10-23 / (0194.jp2)
  57. 10.5 Experimental Setup of 5-DOF-controllable MSIH / 10-28 / (0199.jp2)
  58. 10.6 Experimental Setup of Planar-type MSIH / 10-43 / (0214.jp2)
  59. 10.7 Summary / 10-49 / (0220.jp2)
  60. Chapter 11 Experimental Verification of Three Functional Properties of MSIH / 11-1 / (0221.jp2)
  61. 11.1 Experimental Identification of Electromagnet Model / 11-2 / (0222.jp2)
  62. 11.2 Experiments on Single-DSP-based Digital Controller / 11-7 / (0227.jp2)
  63. 11.3 Multi-Axis Force Sensing / 11-13 / (0233.jp2)
  64. 11.4 Programmable Compliance / 11-13 / (0233.jp2)
  65. 11.5 Precision Multi-DOF Actuation / 11-16 / (0236.jp2)
  66. 11.6 Summary and Discussion / 11-20 / (0240.jp2)
  67. Chapter 12 Insertion Operations with MSIH / 12-1 / (0243.jp2)
  68. 12.1 Introduction / 12-1 / (0243.jp2)
  69. 12.2 Definition of Experimental Conditions and Assembly Methods / 12-4 / (0246.jp2)
  70. 12.3 Experiments of Insertion Operations with MSIH / 12-10 / (0252.jp2)
  71. 12.4 Chamferless Insertion / 12-36 / (0278.jp2)
  72. 12.5 Large-diameter-part Insertion / 12-40 / (0282.jp2)
  73. 12.6 Summary / 12-40 / (0282.jp2)
  74. PART IV Magnetic Servo Levitation for Micro Drilling Automation / (0284.jp2)
  75. Overview of Part IV / 4-2 / (0285.jp2)
  76. Chapter 13 Micro Drilling and Magnetic Servo Levitation / 13-1 / (0286.jp2)
  77. 13.1 Automation of Micro Drilling / 13-1 / (0286.jp2)
  78. 13.2 Application of Magnetic Servo Levitation / 13-4 / (0289.jp2)
  79. Chapter 14 Preliminary Experiments in Micro Drilling / 14-1 / (0291.jp2)
  80. 14.1 Introduction / 14-1 / (0291.jp2)
  81. 14.2 A Sample Operation in Experiments / 14-2 / (0292.jp2)
  82. 14.3 Experimental Setup / 14-4 / (0294.jp2)
  83. 14.4 Experiments / 14-6 / (0296.jp2)
  84. 14.5 Summary / 14-13 / (0303.jp2)
  85. Chapter 15 Design of Magnetic Servo Levitation for Micro Drilling / 15-1 / (0304.jp2)
  86. 15.1 Two Types of Magnetic Servo Levitation in Micro Drilling / 15-1 / (0304.jp2)
  87. 15.2 A Prototype of Magnetically Supported Intelligent Worktable / 15-4 / (0307.jp2)
  88. 15.3 Summary / 15-10 / (0313.jp2)
  89. PART V Conclusions / (0314.jp2)
  90. Chapter 16 Dissertation Contributions / 16-1 / (0315.jp2)
  91. Chapter 17 Future Research Directions / 17-1 / (0319.jp2)
  92. Publications / P-1 / (0322.jp2)
  93. References / R-1 / (0327.jp2)
  94. Appendices / A-1 / (0358.jp2)
  95. Appendix A / A-2 / (0359.jp2)
  96. Appendix B / A-6 / (0363.jp2)
  97. Appendix C / A-7 / (0364.jp2)
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各種コード

  • NII論文ID(NAID)
    500000081750
  • NII著者ID(NRID)
    • 8000000081958
  • DOI(NDL)
  • NDL書誌ID
    • 000000246064
  • データ提供元
    • NDL ONLINE
    • NDLデジタルコレクション

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