Relevant Publication

• S. Raval, A. Bhattacharjee, X. Chen, L. Mair, A. Krieger, Y. Diaz-Mercado, “Singularity-Free Approximate Waypoint Tracking Controller for Underactuated Magnetic Robots”, accepted for publication in IFAC Modeling, Estimation and Control Conference (MECC), 2024

Summary

One of the main challenges in developing accurate controllers for magnetic actuation systems involves the nontrivial amount of configuration-dependent singularities present in the manipulation Jacobian for these robotic systems, which can lead to unsafe behavior using standard control approaches. As a critical contribution of the research conducted in this work, we use the nonlinear nature of the magnetic fields to analyze controllability of magnetic robots and understand the limits of singularity-free control without needing to increase number of magnetic actuators, which lead to bulkier and costlier magnetic robotic systems.

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