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Control Strategy of Vibrational Capsubot in Viscoelastic Environment
Zhang C(张诚); Tan RJ(谭人嘉); Liu H(刘浩); Li HY(李洪谊)
作者部门机器人学研究室
会议名称The 6th International Conference on Bioinformatics and Biomedical Engineering
会议日期May 17-20, 2012
会议地点Shanghai China
会议主办者IEEE
会议录名称The 6th International Conference on Bioinformatics and Biomedical Engineering
出版者IEEE
出版地New York, USA
2012
页码5-8
产权排序1
ISBN号978-1-61284-101-4
关键词Control Strategy Capsubot Viscoelastic Environment Swing
摘要Active capsule endoscopy is becoming a research hotspot in recent years. We design an active capsule robot (capsubot) with the vibrational mode. The internal force-static friction control strategy which is used in the capsubot is effective in rigid environment but not in viscoelastic environment. A particular viscoelastic material whose parameters are confirmed is set to the viscoelastic environment. We suppose that it is a periodic damped oscillation system when the capsubot make a free vibration in the environment. We propose a new control strategy whose principle is similar to a swing in the environment. The simulation results show that the new strategy is effective.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/10194
专题机器人学研究室
作者单位1.Shenyang Institute of Automation (SIA)
2.Graduate School of the Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Zhang C,Tan RJ,Liu H,et al. Control Strategy of Vibrational Capsubot in Viscoelastic Environment[C]//IEEE. New York, USA:IEEE,2012:5-8.
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