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Open AccessArticle

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

Department of Engineering Sciences, Uppsala University, Box 534, 751 21 Uppsala, Sweden
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Author to whom correspondence should be addressed.
Academic Editor: Dan Zhang
Machines 2016, 4(3), 16; https://doi.org/10.3390/machines4030016
Received: 8 June 2016 / Revised: 27 July 2016 / Accepted: 28 July 2016 / Published: 10 August 2016
(This article belongs to the Special Issue Robotic Machine Tools)
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. View Full-Text
Keywords: electromagnet; distance measurement; self-sensing; robotic-tool; current control; current ripple; H bridge; micro-controller electromagnet; distance measurement; self-sensing; robotic-tool; current control; current ripple; H bridge; micro-controller
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MDPI and ACS Style

Kamf, T.; Abrahamsson, J. Self-Sensing Electromagnets for Robotic Tooling Systems: Combining Sensor and Actuator. Machines 2016, 4, 16.

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