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Self-Sensing Electromagnets for Robotic Tooling Systems: Combining Sensor and Actuator
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.ORCID iD: 0000-0001-8315-5523
Uppsala University, Disciplinary Domain of Science and Technology, Technology, Department of Engineering Sciences, Electricity.
2016 (English)In: Machines, ISSN 2075-1702, Vol. 4, no 3, 16Article in journal (Refereed) Published
Abstract [en]

A low-cost method, which integrates distance sensing functionality into a switched electromagnet by using a hybrid switching mode and current ripple measurements, is proposed. The electromagnet is controlled by a micro-controller via a MOSFET H bridge, utilizing a comparator-based current control. Additionally, a method for calculating the inductance of the electromagnet and approximating the magnetic contact between the electromagnet and its target is also presented. The resulting tool is attached to an industrial robot, and the system performance using this setup is evaluated. Distance sensing in the range of 0 mm to 5.2 mm is demonstrated. It is also shown that the relation between magnetic contact, coil current and calculated inductance can be reduced to a predictive look-up table, enabling the quality of the magnetic contact to be estimated using minimal computational effort.

Place, publisher, year, edition, pages
2016. Vol. 4, no 3, 16
Keyword [en]
electromagnet, distance measurement, self-sensing, robotic-tool, current control, current ripple, H bridge, micro-controller
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:uu:diva-305436DOI: 10.3390/machines4030016ISI: 000401524100003OAI: oai:DiVA.org:uu-305436DiVA: diva2:1038354
Funder
VINNOVA
Available from: 2016-10-18 Created: 2016-10-18 Last updated: 2017-10-08Bibliographically approved
In thesis
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