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3D motion control and target manipulation of small magnetic robot
Wang JY(王敬依); Jiao ND(焦念东); Yang YL(杨永良); Tung, Steve; Liu LQ(刘连庆)
作者部门机器人学研究室
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
会议录名称Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
出版者Springer Verlag
出版地Berlin
2017
页码110-119
收录类别EI
EI收录号20173504107659
产权排序1
ISSN号0302-9743
ISBN号978-3-319-65288-7
关键词Magnetic Robot Expert Control Three-dimensional Motion Micromanipulation
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.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20859
专题机器人学研究室
通讯作者Jiao ND(焦念东); Liu LQ(刘连庆)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
3.Department of Mechanical Engineering, Michigan State University, East Lansing, MI, 48824, United States
4.Department of Mechanical Engineering, University of Arkansas, Fayetteville, AR, 72701, United States
推荐引用方式
GB/T 7714
Wang JY,Jiao ND,Yang YL,et al. 3D motion control and target manipulation of small magnetic robot[C]. Berlin:Springer Verlag,2017:110-119.
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