Experimental Modular Platform for Distributed Planar Manipulation by Magnetic Field

This talk presents an experimental platform for testing of control algorithms for distributed manipulation. The system dubbed MagMan (Magnetic Manipulator) consists of a rectangular array of coils, above which steel balls are rolling. The system measures the position of balls using a resistive touch foil or a camera and controls individual coils accordingly. A simplified mathematical model of the system describes both the magnetic force and the ball's dynamics. To find the parameters of the model, we used measurements of the magnetic field, exerted force, and velocity profiles. Besides the experimental system, we also present an example of the control algorithm based on feedback linearization; it attempts to invert the mathematical model using a numerical optimization that finds the currents for demanded force. Finally, we present results and videos from experiments and we discuss possible further extensions of the system. The platform may be attractive especially for groups studying control algorithms for nonlinear systems and distributed systems.