Minimum Bounds on the Number of Electromagnets Required for Remote Magnetic Manipulation
Minimum Bounds on the Number of Electromagnets Required for Remote Magnetic Manipulation
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DOI：
10.1109/tro.2015.2424051
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发表时间：
2015-06-01
影响因子：
7.8
通讯作者：
Nelson, Bradley J.
中科院分区：
文献类型：
--
作者：
Petruska, Andrew J.;Nelson, Bradley J.
已经开发了许多磁操作系统来控制相对较大的工作空间中的物体。这些系统在电磁铁的数量、配置和局限性方面各不相同。到目前为止，还没有人试图严格量化执行给定的磁操作任务需要多少个电磁铁。对于某些任务，例如在某个点控制字段，答案是明确的：与控制维度相同的数字。对于在物体上施加磁力的任务，答案不太清楚，而且一些系统的控制磁铁比运动自由度(DOF)更多，已经显示出仅在特定物体方向上出现的意想不到的奇点。本文从控制磁场方程出发，对静态电磁系统进行了一般分析，并证明了一个不直观的结果。也就是说，如果仅使用磁场和力来控制无约束磁性物体，则三自由度力控制需要四个磁源，而与方向无关的五自由度力和航向控制需要八个磁源。
Numerous magnetic-manipulation systems have been developed to control objects in relatively large workspaces. These systems vary in their number of electromagnets, their configuration, and their limitations. To date, no attempt has been made to rigorously quantify how many electromagnets are required to perform a given magnetic manipulation task. For some tasks, such as controlling the field at a point, the answer is clear: the same number as dimension of control. For tasks that apply magnetic forces on an object, the answer is less clear, and some systems, which have more control magnets than kinematic degrees of freedom (DOFs), have demonstrated unexpected singularities that only arise at specific object orientations. This paper provides a general analysis for static electromagnetic systems rooted in the governing magnetic equations and proves an unintuitive result. That is, if only magnetic fields and forces are used to control an unconstrained magnetic object, four magnetic sources are required for 3-DOF force control and eight magnetic sources are required for orientation-independent 5-DOF force and heading control.