3D motion control and target manipulation of small magnetic robot

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 机器人学研究室

	3D motion control and target manipulation of small magnetic robot
	Liu LQ(刘连庆); Tung, Steve ; Yang YL(杨永良); Jiao ND(焦念东); Wang JY(王敬依)
	2017
会议名称	10th International Conference on Intelligent Robotics and Applications, ICIRA 2017
会议日期	August 16-18, 2017
会议地点	Wuhan, China
关键词	Magnetic robot Expert control Three-dimensional motion Micromanipulation
页码	110-119
通讯作者	Jiao ND(焦念东) ; Liu LQ(刘连庆)
中文摘要	The Electromagnetic robots have received much attention because of their advantages of control agility and good precision. Most of the electromagnetic robots are controlled in two-dimensional motion. However, the environment in vivo is complicated and two-dimensional control is difficult to meet the complicated situation. In this paper, we propose a three-dimensional (3D) control method for the locomotion and manipulation of small magnetic robots. The robot can be controlled to move in 3D direction using visual feedback with an expert control algorithm. The velocity of the robot is nearly proportional to the applied current in the coils, and can reach 1, mm/s. To verify its performance, the robot is used to manipulate microspheres into a 3, ×, 3 array. The robot is expected to be an agile tools that could play important roles in micromanipulation and biomedical treatment.
收录类别	EI
产权排序	1
会议录	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
会议录出版者	Springer Verlag
会议录出版地	Berlin
语种	英语
ISSN号	0302-9743
ISBN号	978-3-319-65288-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/20859]
专题	沈阳自动化研究所_机器人学研究室
作者单位	1.Department of Mechanical Engineering, Michigan State University, East Lansing, MI, 48824, United States 2.Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, 72701, United States 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China 4.University of Chinese Academy of Sciences, Beijing, 100049, China
推荐引用方式 GB/T 7714	Liu LQ,Tung, Steve,Yang YL,et al. 3D motion control and target manipulation of small magnetic robot[C]. 见:10th International Conference on Intelligent Robotics and Applications, ICIRA 2017. Wuhan, China. August 16-18, 2017.