Independent Control of Two Magnetic Robots using External Permanent Magnets: A Feasibility Study
Independent Control of Two Magnetic Robots using External Permanent Magnets: A Feasibility Study
复制标题
使用外部永磁体独立控制两个磁性机器人：可行性研究
DOI：
10.1109/ismr57123.2023.10130246
复制
发表时间：
2023
期刊：
影响因子：
--
通讯作者：
Davy J
中科院分区：
文献类型：
--
作者：
Davy J
多个磁性机器人在同一工作空间中独立操作的能力将增加这些系统的临床潜力，从而允许协作操作。在这项工作中，我们研究了使用外部永磁体驱动两个磁性机器人在同一工作空间内工作的可行性。与基于成对电磁线圈的致动系统不同，使用多个永磁体具有更适合临床环境的大工作空间的优点。在这项工作中，我们提出了一个优化程序，能够产生所需的姿势的外部磁铁，以控制两个磁性机器人的位置和方向。我们表明，在15厘米的距离，磁性机器人之间的最小耦合可以实现（3.9%的串扰），每个嵌入5毫米直径，5毫米长度的钕铁硼磁体。在较小的距离，我们观察到的能力，独立控制的机器人扭矩下降，但力仍然可以实现独立的控制，即使与机器人的对齐。我们测试我们开发的控制系统在模拟两个磁性机器人按照预先计划的轨迹在近距离（60 mm）显示的平均位置误差为8.7 mm，平均角误差为16.7°。
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°.
影响因子：
62.1
作者：
Kim, Yoonho;Zhao, Xuanhe
通讯作者：
Zhao, Xuanhe