Eddy currents induced by rotating magnetic dipole fields can produce forces and torques that enable dexterous manipulation of conductive nonmagnetic objects. This paradigm shows promise for application in the remediation of space debris. The induced force from each rotating-magnetic-dipole field source always includes a repulsive component, suggesting that the object should be surrounded by field sources to some degree to ensure the object does not leave the dexterous workspace during manipulation. In this article, we show that it is possible to fully control the position of an object in a workspace near the midpoint between just two stationary field sources. A given position controller requires a low-level force controller. We propose two new force controllers, and compare them with the state-of-the-art method from the literature. One of the new force controllers is particularly good at not inducing parasitic torques, which is hypothesized to be beneficial for future tasks manipulating and detumbling rotating resident space objects. We perform experimental verification using numerical and physical simulators of microgravity.

中文翻译：

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具有两个静止旋转磁偶极子场源的导电非磁性物体的位置调节


旋转磁偶极子场感应的涡流可以产生力和扭矩，从而能够灵巧地操纵导电非磁性物体。这种范式显示出在空间碎片修复中的应用前景。来自每个旋转磁偶极子场源的感应力始终包括一个排斥分量，这表明物体应在一定程度上被场源包围，以确保物体在操作过程中不会离开灵巧的工作空间。在本文中，我们展示了在工作区中，仅两个稳态场源之间中点附近，可以完全控制物体的位置。给定的位置控制器需要一个低级力控制器。我们提出了两个新的力控制器，并将它们与文献中最先进的方法进行了比较。其中一个新的力控制器特别擅长不产生寄生扭矩，据推测，这对未来操纵和解翻旋转常驻空间物体的任务是有益的。我们使用微重力的数值和物理模拟器进行实验验证。