This paper addresses the challenge of achieving dexterous non-contact manipulation by proposing a novel unified control framework that seamlessly integrates the macro-scale motion of a robotic arm with the micro-scale...This paper addresses the challenge of achieving dexterous non-contact manipulation by proposing a novel unified control framework that seamlessly integrates the macro-scale motion of a robotic arm with the micro-scale force field generated by an electromagnetic system.Traditional magnetic manipulation systems are often constrained to pre-defined workspaces or lack the dexterity for complex tasks.Our approach leverages the extensive reach of a 6-DOF robotic arm to position an electromagnetic effector,which then generates highly localized magnetic fields for precise manipulation of magnetic objects.The core contribution is a hierarchical control algorithm that computes the required joint trajectories for the robotic arm and the necessary current inputs for the electromagnetic coils based on the desired trajectory of the manipulated object.This algorithm solves the inverse problem of magnetic force modeling in real-time.To validate our framework,we developed a high-fidelity simulation environment that models the robotic arm dynamics,the magnetic field,and the object's motion.Extensive simulation results demonstrate the framework's effectiveness in performing complex tasks such as non-contact planar tracing and 3D steering of a magnetic particle with an average tracking accuracy of 15μm.Our work provides a foundational control strategy for applications in non-contact automation,micro-robotics,and biomedicine,paving the way for future experimental implementation.展开更多
Initiated three decades ago,integrated design of controllers and fault detectors has continuously attracted research attention.The recent development of the unified control and detection framework with an observer-bas...Initiated three decades ago,integrated design of controllers and fault detectors has continuously attracted research attention.The recent development of the unified control and detection framework with an observer-based residual generator in its core gives a more general form of the previous works.Its applications to residual centred modelling of uncertain control systems,fault detection in feedback control systems with uncertainties,fault-tolerant control(FTC)as well as control performance degradation monitoring,detection and recovery are introduced.In conclusion,some future perspectives are proposed.展开更多
文摘This paper addresses the challenge of achieving dexterous non-contact manipulation by proposing a novel unified control framework that seamlessly integrates the macro-scale motion of a robotic arm with the micro-scale force field generated by an electromagnetic system.Traditional magnetic manipulation systems are often constrained to pre-defined workspaces or lack the dexterity for complex tasks.Our approach leverages the extensive reach of a 6-DOF robotic arm to position an electromagnetic effector,which then generates highly localized magnetic fields for precise manipulation of magnetic objects.The core contribution is a hierarchical control algorithm that computes the required joint trajectories for the robotic arm and the necessary current inputs for the electromagnetic coils based on the desired trajectory of the manipulated object.This algorithm solves the inverse problem of magnetic force modeling in real-time.To validate our framework,we developed a high-fidelity simulation environment that models the robotic arm dynamics,the magnetic field,and the object's motion.Extensive simulation results demonstrate the framework's effectiveness in performing complex tasks such as non-contact planar tracing and 3D steering of a magnetic particle with an average tracking accuracy of 15μm.Our work provides a foundational control strategy for applications in non-contact automation,micro-robotics,and biomedicine,paving the way for future experimental implementation.
基金This work was supported by the National Natural Science Foundation of China(62020106003,62073029)the Beijing Natural Science Foundation(4202045)the Fundamental Research Funds for the Central Universities(FRF-TP-20-012A3).
文摘Initiated three decades ago,integrated design of controllers and fault detectors has continuously attracted research attention.The recent development of the unified control and detection framework with an observer-based residual generator in its core gives a more general form of the previous works.Its applications to residual centred modelling of uncertain control systems,fault detection in feedback control systems with uncertainties,fault-tolerant control(FTC)as well as control performance degradation monitoring,detection and recovery are introduced.In conclusion,some future perspectives are proposed.
