Actively controlled manipulation of a magnetic microbead using quadrupole magnetic tweezers
IEEE Transactions on Robotics
OctoMag: an electromagnetic system for 5-DOF wireless micromanipulation
IEEE Transactions on Robotics
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This paper presents the development of a compact six-axis magnetic levitation stage, including the design and implementation of magnetic actuators, laser interferometer motion sensors, and motion controllers. The designed travel volume of the stage is 2times2times2 mm in translation and 4degtimes4degtimes4deg in rotation. A two-axis linear actuator, based on the magnetic Lorentz force law, was designed, and three two-axis actuators, equivalent to six single -axis actuators, were implemented to achieve six-axis actuation. A high-resolution laser interferometer measurement system was implemented and employed to measure the six-axis motion of the stage, facilitating real-time feedback control. Feedback linearization, based on rigid-body dynamics of the levitated stage, and force distribution were implemented in a computer-controlled architecture so as to establish a decoupled dynamics between the six computed inputs and the resulting six-axis motions. Constant gain controllers were then designed and implemented, according to the concept of loop shaping, for each of the six axes, and high positioning stability, 1.1 nm root mean square (RMS) for x and 0.74 nm RMS for y, has been achieved. Experimental results are presented to illustrate positioning stability, system linearity, dynamic response invariance, nano stepping, multiaxis contouring, and large rotational motion