Abstract: A magnetically levitated apparatus and method for controlling the motion of robotic manipulators. The magnetic levitation system comprises freely mobile manipulators, with attached magnetically active components, such as permanent magnets or superconducting magnets. Linear and rotational forces are imposed on the manipulator by means of externally generated magnetic fields, such as electromagnets. The arrangements of magnetic components on the manipulators, and the magnetic field sources in the environment of the manipulators determine the precision of control and degrees of freedom that the manipulators possess at any given location in the system. The manipulators may function with more than one degree of freedom with high precision at one or more locations with the system, with low precision and limited degrees of freedom in other locations in the system. Various methods are applied to provide stability and damping of the individual manipulators without requiring constant feedback.