Simultaneous Actuation and Localization of Magnetic Robots Using Mobile Coils and Eye-In-Hand Hall-Effect Sensors
Moqiu Zhang,Lidong Yang,Chong Zhang,Zhengxin Yang,Li Zhang,Moqiu Zhang,Lidong Yang,Chong Zhang,Zhengxin Yang,Li Zhang
Large workspace localization of magnetic robots is important for medical applications. This paper presents a novel localization strategy to achieve simultaneous localization and actuation of magnetic robots using hall-effect sensors. We integrate 25 sensors into a sensing probe and mount it on to the mobile-coil system, which realizes accurate sensing and actuation of magnetic devices within a cyl...
