Calibration of a multi-mobile coil magnetic manipulation system utilizing a control-oriented magnetic model

نویسندگان

چکیده

In this paper, we address the calibration of a family magnetic manipulation systems composed several coils that are moved around by serial robot manipulators. We show in paper whole system ultimately results calibrating manipulator and coil separately up to an unknown rigid transformation. For coil, propose use model has not been used so far literature; control-oriented which is sufficiently accurate computes field real time. A protocol for using Nelder–Mead algorithm estimate parameters presented. Calibration was performed through simulations validated experimentally on physical system. It observed root mean square error reduced 37% after system, indicating improvement accurately estimating model.

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ژورنال

عنوان ژورنال: Mechatronics

سال: 2022

ISSN: ['1873-4006', '0957-4158']

DOI: https://doi.org/10.1016/j.mechatronics.2022.102774