Force Control Based on Simultaneous Optimal Control System of Motion/Power-saving Magnetic Levitation of Helical Motor

High performance force control enables human-robot interaction. On the other hand, the authors have proposed the high thrust density and backdrivable linear motor (helical motor) which has the helical shape and the magnetic levitation system. This paper, proposed a force control based on the motion/power-saving magnetic levitation optimal control. From the numerical simulations, it can confirm the force and power-saving magnetic levitation control performance is improved.