Davy, J, Da Veiga, T, Pittiglio, G et al. (2 more authors) (2023) Independent Control of Two Magnetic Robots using External Permanent Magnets: A Feasibility Study. In: 2023 International Symposium on Medical Robotics (ISMR). 2023 International Symposium on Medical Robotics (ISMR), 19-21 Apr 2023, Atlanta, USA. IEEE ISBN 979-8-3503-0162-5/23
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°.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | This item is protected by copyright. This is an author produced version of a conference paper published in Proceedings of 2023 International Symposium on Medical Robotics (ISMR), made available under the terms of the Creative Commons Attribution License (CC-BY), which permits unrestricted use, distribution and reproduction in any medium, provided the original work is properly cited. |
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) |
Depositing User: | Symplectic Publications |
Date Deposited: | 13 Jun 2023 14:24 |
Last Modified: | 16 May 2024 13:17 |
Published Version: | http://dx.doi.org/10.1109/ismr57123.2023.10130246 |
Status: | Published |
Publisher: | IEEE |
Identification Number: | 10.1109/ismr57123.2023.10130246 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:200396 |