Fig. 8: Magnetic localization and manipulation of the PMSM.
From: Magnetic localization and manipulation of locking synchronous motors
a External system combining a robot arm, a Hall effect magnetometer, and an electromagnet. b Experimental setup including a tubular network enclosing the PMSM, vertically suspended electromagnet and magnetometer, and an upward-facing camera. c Different operating modes for localization and manipulation, alternating between PMSM (un)locked states, combined with external magnet or magnetometer (in)activity. d Flow diagram for the localization and manipulation modes. e Navigation results.
