Paper Info
Title
Magnetic Actuation With Stationary Electromagnets Considering Power And Temperature Constraints
Abstract
In systems comprising stationary electromagnets designed for magnetic manipulation and remote magnetic actuation, the standard method for achieving some desired system output (e.g., magnetic force and torque) is to form a matrix that maps the electromagnets' electrical currents to the resulting output, and then use the pseudoinverse of that matrix to solve for the currents. However, this method does not account for the nonlinear nature of the saturation limits of the amplifiers and power supply, nor does it account for the temperature in the electromagnets, both of which limit the system's overall performance in practice. In this letter, we propose improved current-solving methods that account for these real-world system limitations. We demonstrate how the performance of systems can be improved by increasing both the achievable output magnitudes and the total operating time to achieve those outputs, and how the risk of overheating can be eliminated.
Year
DOI
Venue
2020
10.1109/LRA.2020.3025512
IEEE ROBOTICS AND AUTOMATION LETTERS
Keywords
DocType
Volume
Medical robots and systems, micro/nano robots, optimization and optimal control, redundant robots
Journal
5
Issue
ISSN
Citations 
4
2377-3766
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Ashkan Pourkand142.19
Jake J. Abbott264668.42