Davy, J orcid.org/0000-0001-9483-111X, Veiga, TD, Pittiglio, G et al. (2 more authors) (2023) Independent Control of Two Magnetic Robots using External Permanent Magnets: A Feasibility Study. [Preprint - arXiv]
Abstract
The ability to have multiple magnetic robots operate independently in the
same workspace would increase the clinical potential of these systems allowing
collaborative operation. In this work, we investigate the feasibility of
actuating two magnetic robots operating within the same workspace using
external permanent magnets. Unlike actuation systems based on pairs of
electromagnetic coils, the use of multiple permanent magnets comes with the
advantage of a large workspace which better suits the clinical setting. In this
work, we present an optimization routine capable of generating the required
poses for the external magnets in order to control the position and orientation
of two magnetic robots. We show that at a distance of 15cm, minimal coupling
between the magnetic robots can be achieved (3.9\% crosstalk) each embedded
with 5mm diameter, 5mm length NdFeB magnets. At smaller distances, we observe
that the ability to independently control the robot torques decreases, but
forces can still achieve independent control even with alignment of the robots.
We test our developed control system in a simulation of two magnetic robots
following pre-planned trajectories in close proximity (60 mm) showing a mean
positional error of 8.7 mm and mean angular error of 16.7 degrees.
Metadata
Item Type: | Preprint |
---|---|
Authors/Creators: |
|
Dates: |
|
Institution: | The University of Leeds |
Academic Units: | The University of Leeds > Faculty of Engineering & Physical Sciences (Leeds) > School of Electronic & Electrical Engineering (Leeds) |
Depositing User: | Symplectic Publications |
Date Deposited: | 21 Apr 2023 14:23 |
Last Modified: | 21 Apr 2023 14:23 |
Published Version: | http://arxiv.org/abs/2303.01842v1 |
Identification Number: | 10.48550/arXiv.2303.01842 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:198189 |