Models of Magnetic Driver Interaction with Ferromagnetic Surface and Geometric Data Computing for Clamping Force Localization Patches

This paper deals with the main features of electromagnetic interaction between the mobile robot's (MR) electromagnetic driver and ferromagnetic surface. In particular, the problems of clamping force calculation are discussed for robotic applications. The main attention is paid to computing of geometrical parameters of clamping forces localization patches by proposed combination-generation method. Efficiency of the method is checked by computer simulation and shown for one arc of localization patch's contour. Obtained results show rather high accuracy of this processing and its ability to be used in a functional structure of an experimental setup for fast Hall sensors' data stream computing at clamping force calculation by computerized tools.