Figure 11
(a) The maximum 2-norm condition number of the orientation-dependent linear map between coil currents and forces and torques is taken over all possible magnetization vector orientations at every point in the workspace for VORIACS with non-individually addressable coils on each stack. (b) Corresponding contour for VORIACS where each coil is addressed individually, even within a stack. It can be seen that allowing each coil to be individually addressable greatly reduces the maximum condition number (32 is maximum on (b)), allowing us to solve for coil currents to achieve a desired force and torque everywhere on the workspace at every orientation.
