Design and Vision Servo Control of a Serial–Parallel Hybrid Robotic Magnetic Actuation System

Abstract

This paper presents a Serial–Parallel Hybrid Robotic Magnetic Actuation (SPH-RMA) system for high-precision magnetic micromanipulation. The system integrates a 6-DOF serial manipulator and a 6-RSS parallel platform to jointly achieve large workspace coverage and high local dexterity for magnetic actuation. A position-based visual servoing (PBVS) framework is developed to directly regulate the end-effector pose using real-time visual feedback, together with an adaptive damped least-squares inverse kinematics scheme for stable singularity-aware motion control. Experimental results demonstrate millimeter-level accuracy, with a 2.0 mm RMSE in trajectory tracking. In a complex pentacle-shaped task, the system achieves a 6.3 mm RMSE and a 93.3% waypoint success rate, confirming robust closed-loop performance under geometric complexity. The results validate that combining PBVS with a hybrid serial–parallel architecture provides an effective solution for precise and robust magnetic micromanipulation.