MAGNETIC LEVITATION SERVO FIXTURE FOR ROBOTICASSEMBLY AND INTELLIGENT CONTROL

Firstly, a new type of magnetic levitation servo fixture for robotic assembly is designed. Its structure and static analysis are described; schematic of robotic assembly system is drawn. secondly, intelligent control of the magnetic levitation servo fixture are analyzed. Its control of static balance is described; reasonable gap sensor, electromagnet, power drive circuit, A/D and D/A conversion circuits are selected as hardwares of the control circuit; Neurocontrol based on CMAC is adopted as intelligent control method of active complicance. Thirdly, VC++ combined with MATLAB is applyed to programming in virtue of neurocontrol algorithm. Methods of achieving DLL programming in VC++ and calling MATLAB via VC++ are given.