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초록
We propose a control methodology to precisely manipulate a self-positioning and rolling magnetic microrobot (SPRMM) along a complex moving path on a 3D thin surface. We introduce a closed-loop algorithm to control an external rotating magnetic field in order to precisely manipulate the SPRMM along a predefined arbitrary moving path. We also construct a biplane, vision-based image processing procedure to obtain the real-time 3D position of the SPRMM. We then construct an experimental setup to demonstrate precise rolling locomotion of the SPRMM on a 3D, complex thin surface.
키워드
Closed-loop; image processing; rolling microrobot; rotating magnetic field; self-positioning; Data communication equipment; Image processing; Magnetic fields; Closed-loop; Closed-loop control; Control methodology; Micro robots; Processing procedures; Rotating magnetic fields; Self-positioning; Thin surfaces; Closed loop control systems
- 제목
- Closed-Loop Control of a Self-Positioning and Rolling Magnetic Microrobot on 3D Thin Surfaces Using Biplane Imaging
- 저자
- Kim, Seung Joo; Jeon, Seung Mun; Nam, Jae Kwang; Jang, Gun Hee
- 발행일
- 2014-11
- 유형
- Article; Proceedings Paper
- 권
- 50
- 호
- 11
- 페이지
- 1 ~ 4