Non-Contact Cooperative Manipulation of Magnetic Microparticles Using Two Robotic Electromagnetic Needles

In this paper, we report a cooperative manipulation method for non-contact robotic electromagnetic needle system. We employ two 3 degrees of freedom (DOF) needles to achieve an over-actuated manipulator, which can move the particle any position in planar workspace from direction. The redundant DOFs, combined with optimization-based control approach, enable manipulator accurate path following and avoid collision needles. Using visual servoing, developed controller line accuracy 0.33±0.32 μm, square 0.77±0.55 circle 0.89±0.66 μm 4.5 diameter superparamagnetic particle. also manipulate along complex paths such as infinity symbol letter symbols.