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