Independent Control of Multiple Degrees of Freedom Local Magnetic Actuators With Magnetic Cross-Coupling Compensation

摘要: This letter tackles the problem of independent control multiple degrees freedom (DoF) systems based on local magnetic actuation (LMA). is achieved by means a modular disturbance rejection scheme, with aim enhancing range use multiple-DoF LMAs in dexterous surgical manipulators. An LMA unit consists pair permanent magnets, characterized diametrical magnetization, acting as gears across abdominal wall. In this study, model and time-varying disturbances owing to proximity units are discussed. Subsequently, developed capitalized order establish Kalman state observer for purpose developing sensor-free endoscopic manipulator suited infer internal side LMA. Afterwards, same used develop an adaptive feedforward compensator system, balancing torques from neighboring case unknown frequency-varying sinusoidal disturbances. The effect shield, realized MuMetal also analyzed. overall system respect number requires no centralized intelligence. proposed scheme subsequently validated experiments performed benchtop platform, showing effectiveness approach. particular, presents root mean square error (RMSE) ranging $\boldsymbol {\text{28}}$ {\text{47}}$ {\text{rpm}}$ estimation rotational velocity magnet RMSE {\text{1.18}}$ {}$ {\text{1.41}}$ {\text{mNm}}$ load torque. compensation provides reduction ${\text{40}}$ $\%$ {\text{50}}$ caused interacting units.