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Remote magnetic control of soft magnetic objects has been limited to 2D orientation and 3D position. In this letter, we extend the five degree-of-freedom (5-DoF) control approach to full 6-DoF.… Click to show full abstract
Remote magnetic control of soft magnetic objects has been limited to 2D orientation and 3D position. In this letter, 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.
Journal Title: IEEE Robotics and Automation Letters
Year Published: 2020
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