Non-Contact Cooperative Manipulation of Magnetic Microparticles Using Two Robotic Electromagnetic Needles
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A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
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Date
2022-04
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Language
en
Pages
7
1605-1611
1605-1611
Series
IEEE Robotics and Automation Letters, Volume 7, issue 2
Abstract
In this paper, we report a cooperative manipulation method for non-contact robotic electromagnetic needle manipulation system. We employ two 3 degrees of freedom (DOF) robotic electromagnetic needles to achieve an over-actuated manipulator, which can move the particle to any position in the planar workspace from any direction. The redundant DOFs, combined with an optimization-based control approach, enable the manipulator to achieve accurate path following and avoid the collision of needles. Using visual servoing, the developed controller can achieve line following accuracy of 0.33±0.32 μm, square following accuracy of 0.77±0.55 μm, and circle following accuracy of 0.89±0.66 μm with a 4.5 μm diameter superparamagnetic particle. The manipulator can also manipulate a particle along complex paths such as infinity symbol and letter symbols.Description
Keywords
Needles, Electromagnetics, Manipulators, Magnetic separation, Coils, Magnetic forces, Force
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Citation
Isitman, O, Bettahar, H & Zhou, Q 2022, ' Non-Contact Cooperative Manipulation of Magnetic Microparticles Using Two Robotic Electromagnetic Needles ', IEEE Robotics and Automation Letters, vol. 7, no. 2, 9661434, pp. 1605-1611 . https://doi.org/10.1109/LRA.2021.3137546