On-line position and attitude estimation for magnetic manipulation system

In this paper, on-line position and attitude estimation method for magnetic manipulation system is introduced. Based on the latest position and attitude, the force and torque applied to the microrobot are estimated with sensed currents, and the position and attitude are updated with the known plant of the microrobot environment. Magnetic flux and gradient generated by each coil are calculated by modeling each coil as a magnetic dipole. The effectiveness of the suggested method is verified with a 4-coil system; microrobot was able to move along a given circular path when using the position and attitude estimator whereas it could not when the estimator was removed.