A six-degree-of-freedom magnetically levitated variable compliance fine-motion wrist: design, modeling, and control

A high-performance six-degree-of-freedom magnetically levitated fine-motion wrist with programmable compliance is described. Design considerations, a discussion of the major elements of the device, and issues of modeling, kinematics, dynamics, and control are presented. A prototype wrist which has been built and controlled successfully is discussed. Experimental results, including high bandwidth position control, compliant control, and the emulation of several mechanisms through software gain setting which establish the use of magnetically levitated robot wrists as an option for manipulation tasks requiring high precision and fine compliant motions, are included