A unified control framework for magnetic manipulation: Integrating a robotic arm and an electromagnetic system with simulation verification

This paper addresses the challenge of achieving dexterous non-contact manipulation by proposing a novel unified control framework that seamlessly integrates the macro-scale motion of a robotic arm with the micro-scale force field generated by an electromagnetic system. Traditional magnetic manipulation systems are often constrained to pre-defined workspaces or lack the dexterity for complex tasks. Our approach leverages the extensive reach of a 6-DOF robotic arm to position an electromagnetic effector, which then generates highly localized magnetic fields for precise manipulation of magnetic objects. The core contribution is a hierarchical control algorithm that computes the required joint trajectories for the robotic arm and the necessary current inputs for the electromagnetic coils based on the desired trajectory of the manipulated object. This algorithm solves the inverse problem of magnetic force modeling in real-time. To validate our framework, we developed a high-fidelity simulation environment that models the robotic arm dynamics, the magnetic field, and the object’s motion. Extensive simulation results demonstrate the framework’s effectiveness in performing complex tasks such as non-contact planar tracing and 3D steering of a magnetic particle with an average tracking accuracy of 15 μ m. Our work provides a foundational control strategy for applications in non-contact automation, microrobotics, and biomedicine, paving the way for future experimental implementation. The graphical abstract depicts the core concept of the integrated magnetic manipulation system. It illustrates the robotic arm positioning a multi-coil electromagnetic end-effector at the tool center point (TCP), generating a localized magnetic field to exert forces on a magnetic particle. A world-fixed camera provides real-time feedback on the particle’s position (pp), enabling closed-loop control for precise non-contact manipulation. This schematic highlights the hierarchical coordination between macro-motion (robotic arm) and micro-force (electromagnetic coils), essential for applications like in-vitro biomedical tasks.