This master's thesis evaluates the possibility to localise an untethered magnetic robot (UMR) based on magnetic coupling with an actuated permanent magnet. This localisation will be based on the torques generated by the interactions between the permanent magnets of the actuator and the permanent magnets of the UMR. These torques are to be estimated by a disturbance observer and used to localise the UMR. An estimate and prediction in a two-dimensional plane is sufficient here.
This localisation method is to be evaluated based on the conducted experiments.
These experiments begin with a fixed magnet as a placeholder for the UMR. In two further experiments, the degrees of freedom of the UMR shall be increased.