In this study, a quasi-minimum time trajectory planning method for the electromagnetic attraction transfer control of a magnetic object by use of a three-link robot arm with an electromagnetic attraction hand is proposed. The three joints of the robot arm are driven with reduction gears and DC motors. In the trajectory planning using a genetic algorithm, the magnetic object is assumed to be transferred along a linear trajectory, and the trajectory of the robot arm is formulated by use of a chromosome consisting of two genes. Then, the fitness function of the genetic algorithm for a quasi-minimum time trajectory planning is defined using two kinds of the constraint conditions as to the allowable maximum moment applied to the magnetic object and the allowable maximum DC motor torque. Furthermore, the numerical calculations and the experiments have been carried out, and the usefulness of the present quasi-minimum time trajectory planning method is confirmed theoretically and experimentally.

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In this research ， it proposes a magnetic damper that uses the magnetic repulsion type bearing where the magnetic repulsion power was used and magnetic repulsion and 山e absorption fbr じe as a method of doing the vibration Gontrol Qf the Superconducting Flywheel system that uses the magnetic gradient drive method ． When the lcvitat 孟 on body vibrates ， the vo 止 し age in propordon to vibration velocity from thc sensor coil is tbd back wi し h the magneticbearing

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In this study, the quasi-minimum time trajectory planning method for the electromagnetic attraction transfer control of a magnetic object by use of a two-joint robot arm with an electromagnetic attraction hand is proposed. In the quasi-minimum time trajectory planning, the trajectory polynomial expression is derived by using the boundary and continuous conditions of joint angle, joint angle velocity, and the trajectory is expressed using three genes of genetic algorithm. Then, using three genes and the genetic algorithm and defining the fitness function for the quasi-minimum time trajectory, the quasi-minimum time trajectory planning algorithm is constructed. The fitness function is defined using two constraint conditions for the allowable maximum moment applied to the magnetic object and allowable rated DC motor torque. Furthermore, the numerical calculations and the experiments are demonstrated, and the usefulness of the present quasi-minimum time trajectory planning method is confirmed.