This letter describes an electromagnetic feedback control system for rigid-body motion control of a magnet. Its novel features are that sensing and actuation using magnetometer sensors and actuator coils operate simultaneously. Magnetic field models from the controlled magnet and each of the actuator coil currents are used together to calculate the three-dimensional position and orientation of the magnet. Motion is controlled simultaneously and independently in multiple degrees of freedom, including planar translation and two in rotation, leaving rotation about the cylindrical axis of magnetization uncontrolled. The system configuration and the localization and actuation methods are presented, together with experimental results of magnet localization with constant and varying coil currents, and during feedback control of trajectory-following motion of the magnet in multiple directions on a planar surface and with controlled changes in orientation. The intended application of the system is for motion control of magnetic endoscope capsules and other miniature medical devices inside the human body.

中文翻译：

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使用平面磁传感器和圆柱形线圈阵列的圆柱形磁铁的同时独立平移和旋转反馈运动控制系统

这封信描述了一种用于磁体刚体运动控制的电磁反馈控制系统。其新颖的特点是使用磁力计传感器和致动器线圈进行传感和致动同时工作。来自受控磁铁的磁场模型和每个致动器线圈电流一起用于计算磁铁的三维位置和方向。运动在多个自由度上同时独立控制，包括平面平移和两个旋转自由度，使围绕磁化圆柱轴的旋转不受控制。介绍了系统配置和定位和驱动方法，以及恒定和变化线圈电流的磁体定位实验结果，并且在磁体在平坦表面上的多个方向上的轨迹跟随运动的反馈控制期间并且在定向的受控变化的情况下。该系统的预期应用是用于人体内部的磁性内窥镜胶囊和其他微型医疗设备的运动控制。