Geometric analysis of the singularities of a magnetic manipulation system with several mobile coils

It has been demonstrated that magnetic fields are relevant for manipulating an untethered magnet, either using fixed coils or mobile permanent magnets. This paper shows however, that any magnetic manipulation method is prone to singular configurations and that the simple numerical analysis of the ra...

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Bibliographic Details
Main Authors: Veron, Baptiste, Hubert, Arnaud, Abadie, Joel, Andreff, Nicolas
Format: Conference Proceeding
Language:English
Subjects:
Coils
Magnetic resonance imaging
Matrix decomposition
Mobile communication
Trajectory
Transmission line matrix methods
Vectors
Online Access:Request full text
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Summary:It has been demonstrated that magnetic fields are relevant for manipulating an untethered magnet, either using fixed coils or mobile permanent magnets. This paper shows however, that any magnetic manipulation method is prone to singular configurations and that the simple numerical analysis of the rank of the "manipulation matrix" is not enough to detect them. Alternatively, we propose a geometrical analysis to interpret and detect the singularities as well as to decide on the acceptability of a reference trajectory. Then, we present results obtained by simulating a planar manipulation system including a multiple mobile coils and a Helmholtz like set-up.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2013.6697078