Open-Loop Orientation Control Using Dynamic Magnetic Fields

Open-Loop Orientation Control Using Dynamic Magnetic Fields. Petruska, A. J. IEEE Robotics and Automation Letters, 5(4):5472–5476, October, 2020.

Paper doi abstract bibtex

Remote magnetic control of soft magnetic objects has been limited to 2D orientation and 3D position. In this paper, we extend the ﬁve degree-of-freedom (5-DoF) control approach to full 6-DoF. We prove that 6-DoF control is possible for objects that have an apparent magnetic susceptibility tensor with unique eigenvalues. We further show that the object’s orientation can be speciﬁed with a dynamic magnetic ﬁeld and can be controlled without orientation feedback. The theory is demonstrated by rotating a soft magnetic object about each of its principle axes using a metronome like dynamic ﬁeld.

@article{petruska_open-loop_2020,
	title = {Open-{Loop} {Orientation} {Control} {Using} {Dynamic} {Magnetic} {Fields}},
	volume = {5},
	issn = {2377-3766, 2377-3774},
	url = {https://ieeexplore.ieee.org/document/9140356/},
	doi = {10.1109/LRA.2020.3009070},
	abstract = {Remote magnetic control of soft magnetic objects has been limited to 2D orientation and 3D position. In this paper, we extend the ﬁve degree-of-freedom (5-DoF) control approach to full 6-DoF. We prove that 6-DoF control is possible for objects that have an apparent magnetic susceptibility tensor with unique eigenvalues. We further show that the object’s orientation can be speciﬁed with a dynamic magnetic ﬁeld and can be controlled without orientation feedback. The theory is demonstrated by rotating a soft magnetic object about each of its principle axes using a metronome like dynamic ﬁeld.},
	language = {en},
	number = {4},
	urldate = {2022-10-18},
	journal = {IEEE Robotics and Automation Letters},
	author = {Petruska, Andrew J.},
	month = oct,
	year = {2020},
	pages = {5472--5476},
}

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