Closed-Loop Control of a Magnetic Particle at the Air–Liquid Interface

Abstract

One of the greatest challenges in microrobotics is the development of robotic devices for high-speed transportation and precise positioning of microcomponents. This paper proposes to use non contact magnetic actuation in which objects are placed at the air/liquid interface and are actuated through magnetic field gradients. A physical model is developed and identified to perform closed-loop control. This approach is validated through several experiments in 1-D. Precise positioning and high-speed trajectory tracking of objects smaller than 100 μm are achieved. The position error of an object of 60 × 50 × 25 μm <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> is less than 10% of its size and the maximum velocity reached is about 6 mm/. The closed-loop control has been tested on objects as small as 30 × 20 × 25 μm <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> and demonstrates its ability to perform precise positioning (the position error is less than 7% of the size of the object). This approach represents a promising solution to design devices for high throughput transportation and precise positioning of micro-objects, which will lead to magnetic smart surfaces at micrometer scale.