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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
关键词Control Strategy Capsubot Viscoelastic Environment Swing
发表期刊Engineering
ISSN1947-3931
2013
卷号5期号:10B页码:424-428
产权排序1
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
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/15659
专题机器人学研究室
通讯作者Zhang C(张诚)
作者单位Shenyang Institute of Automation (SIA), Graduate School of the Chinese Academy of Sciences, Shenyang, China
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[J]. Engineering,2013,5(10B):424-428.
APA Zhang C,Tan RJ,Liu H,&Li HY.(2013).Control Strategy of Vibrational Capsubot in Viscoelastic Environment.Engineering,5(10B),424-428.
MLA Zhang C,et al."Control Strategy of Vibrational Capsubot in Viscoelastic Environment".Engineering 5.10B(2013):424-428.
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