Non-Contact Cooperative Manipulation of Magnetic Microparticles Using Two Robotic Electromagnetic Needles

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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.

Original languageEnglish
Article number9661434
Pages (from-to)1605-1611
Number of pages7
JournalIEEE Robotics and Automation Letters
Volume7
Issue number2
Early online date23 Dec 2021
DOIs
Publication statusPublished - Apr 2022
MoE publication typeA1 Journal article-refereed

Keywords

  • Needles
  • Electromagnetics
  • Manipulators
  • Magnetic separation
  • Coils
  • Magnetic forces
  • Force

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