Guided Motion Control Methodology for Microrobots

Akcura N., ÇETİN L., Kahveci A., Alasli A. K., CAN F. C., TAMER Ö.

6th International Conference on Control Engineering and Information Technology (CEIT), İstanbul, Türkiye, 25 - 27 Ekim 2018 identifier identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Cilt numarası:
  • Doi Numarası: 10.1109/ceit.2018.8751803
  • Basıldığı Şehir: İstanbul
  • Basıldığı Ülke: Türkiye
  • Anahtar Kelimeler: microrobot, untethered power transfer, electromagnetic actuator, programmable motion, MAGNETIC MICROROBOTS, MICROMACHINES
  • Dokuz Eylül Üniversitesi Adresli: Evet

Özet

A guided microrobot position control methodology is introduced in this paper. Using an electromagnetic actuator (EMA) as an end-effector of a robot manipulator, it is possible to have microrobot follow a correlated path with robot manipulator motion in case when there is no task space feedback from microrobot environment. For this purpose, a concept EMA system with an actuation principle depending on the magnetic field homogeneity and gradient generated by two coaxially aligned electromagnets is introduced. The functionality of developed system is experimentally analyzed for translational and rotational motion tracking cases. It is observed that the correlation between the robot manipulator motion and microrobot motion is nearly 1 in x and y direction.