Magnetically guided actuation of ferromagnetic bodies on the planar surfaces: Numerical modeling and experimental verification

Simulation of the planar magnetic actuation of ferromagnetic bodies is proposed and experimentally verified in the framework of the system for precise positioning of miniature passive robots with two degrees of freedom. Major goal of presented development is to balance computational effort of the simulation with complexity of computational problem. Proposed methodology is developed for efficient simulation for model-based controller and state observer of the system.