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.


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    Title :

    Self-Sensing Electromagnets for Robotic Tooling Systems : Combining Sensor and Actuator


    Contributors:

    Publication date :

    2016-01-01


    Remarks:

    ISI:000401524100003



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



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