Dealing with Redundancy of a Multiple Mobile Coil Magnetic Manipulator: A 3RPR Magnetic Parallel Kinematics Manipulator

Abstract

This paper presents a magnetic manipulation system composed of three mobile electromagnets. This system is used to control the position and the orientation of a capsule embedding a small permanent magnet in the horizontal plane. The kinematico-magnetic redundancy of the system is dealt with by imposing the planar parallel kinematics constraints. The resulting controller is demonstrated in silico.