Pittiglio, G orcid.org/0000-0002-0714-5267, Brockdorff, M, da Veiga, T orcid.org/0000-0002-4286-4590 et al. (3 more authors) (2023) Collaborative Magnetic Manipulation via Two Robotically Actuated Permanent Magnets. IEEE Transactions on Robotics, 39 (2). 1407 -1418. ISSN 1552-3098
Abstract
Magnetically actuated robots have proven effective in several applications, specifically in medicine. However, generating high actuating fields with a high degree of manipulability is still a challenge, especially when the application needs a large workspace to suitably cover a patient. The presented work discusses a novel approach for the control of magnetic field and field gradients using two robotically actuated permanent magnets. In this case, permanent magnets—relative to coil-based systems—have the advantage of larger field density without energy consumption. We demonstrate that collaborative manipulation of the two permanent magnets can introduce up to three additional Degrees of Freedom (DOFs) when compared to single permanent magnet approaches (five DOFs). We characterized the dual-arm system through the measurement of the fields and gradients and show accurate open-loop control with a 13.5% mean error. We then demonstrate how the magnetic DOFs can be employed in magnetomechanical manipulation, by controlling and measuring the wrench on two orthogonal magnets within the workspace, observing a maximum crosstalk of 6.1% and a mean error of 11.1%.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Keywords: | Force control; formal methods in robotics and automation; magnetic actuation; medical robots and systems |
Dates: |
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Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) > Robotics, Autonomous Systems & Sensing (Leeds) |
Funding Information: | Funder Grant number EU - European Union 818045 EPSRC (Engineering and Physical Sciences Research Council) EP/R045291/1 Royal Society wm150122 |
Depositing User: | Symplectic Publications |
Date Deposited: | 10 Oct 2022 11:17 |
Last Modified: | 23 May 2024 23:43 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/tro.2022.3209038 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:191843 |