In this paper, we have proposed a novel 6-DOF magnetic levitation (maglev) system to improve the robustness and upgrade positioning precision. The design concept attempts to keep the good performance in the whole journey of moving rather than the point-to-point positioning precision. Furthermore, we endeavor to develop this system with an expectable large moving range. Based on these concepts, we built the force model that considers the variation from the displacement to the magnetic forces first, and avoids the constraint of the attractive levitation in replacing the repulsive levitation. Finally, we adopt the concept of relative place to build the measuring system. All of the performance of the improved framework is demonstrated in the experimental results.
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