A Flexible Magnetic Field Mapping Model For Calibration of Magnetic Manipulation System

Xing，Yi1; Jia，Yanchao1; Zhan，Zhen1; Li，Jianjie1; Hu，Chengzhi1,2

10.1109/ICRA48506.2021.9561421

2021

IEEE International Conference on Robotics and Automation (ICRA)

1050-4729

2577-087X

978-1-7281-9078-5

Proceedings - IEEE International Conference on Robotics and Automation

2021-May

7281-7287

MAY 30-JUN 05, 2021

null,Xian,PEOPLES R CHINA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Magnetic manipulation provides a versatile, remote, noninvasive, and cost-effective strategy in a variety of applications. Till now, many different configurations of magnetic manipulation systems have been developed to address different needs on force, torque, accuracy, and accessibilities. Magnetic field mapping can help to explore the exact map of the magnetic field in the working space and guarantee the homogeneity of the magnetic field. In this paper, a flexible mapping method is employed to solve the scalar potential of the magnetic source by using the separation of variables in Cartesian coordinates. Levenberg-Marquardt Algorithm (LMA) and Whale Optimization Algorithm (WOA) are set to the solver of the model. The work is evaluated in the mapping of an eight-pole magnetic manipulation system. The result of numerical simulation shows that the coefficient of determination R of the model reaches 99.81%, and the actual system mapping obtains R value of 99.57%. This technique can directly be used to calculate the magnetic flux density and gradient field in a short period (≈1ms). Finally, the manipulation of a permanent magnet under the control magnetic field mapping and PID controller demonstrates the effectiveness of the proposed method.

Magnetic flux Adaptation models Magnetic field measurement Torque Magnetic separation Data models Permanent magnets

第一 ; 通讯

英语

CPCI-S ; EI

National Natural Science Foundation of China[61903177];

Automation & Control Systems ; Robotics

Automation & Control Systems ; Robotics

WOS:000771405401001

20220911738950

Cost effectiveness ; Magnetic fields ; Permanent magnets ; Three term control systems

Surveying:405.3 ; Magnetism: Basic Concepts and Phenomena:701.2 ; Electric Components:704.1 ; Control Systems:731.1 ; Industrial Economics:911.2

2-s2.0-85125458738

Scopus

1.Department of Mechanical Engineering and Energy,Southern University of Science and Technology,518055,China
2.Guangdong Provincial Key Laboratory of Human-Augmentation,Rehabilitation Robotics in Universities,Southern University of Science and Technology,518055,China

Xing，Yi,Jia，Yanchao,Zhan，Zhen,et al. A Flexible Magnetic Field Mapping Model For Calibration of Magnetic Manipulation System[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:7281-7287.