Closed-Loop Control of a Self-Positioning and Rolling Magnetic Microrobot on 3D Thin Surfaces Using Biplane Imaging
- Authors
- Kim, Seung Joo; Jeon, Seung Mun; Nam, Jae Kwang; Jang, Gun Hee
- Issue Date
- Nov-2014
- Publisher
- IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
- Keywords
- Closed-loop; image processing; rolling microrobot; rotating magnetic field; self-positioning
- Citation
- IEEE TRANSACTIONS ON MAGNETICS, v.50, no.11, pp.1 - 4
- Indexed
- SCIE
SCOPUS
- Journal Title
- IEEE TRANSACTIONS ON MAGNETICS
- Volume
- 50
- Number
- 11
- Start Page
- 1
- End Page
- 4
- URI
- https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/158742
- DOI
- 10.1109/TMAG.2014.2330812
- ISSN
- 0018-9464
- Abstract
- We propose a control methodology to precisely manipulate a self-positioning and rolling magnetic microrobot (SPRMM) along a complex moving path on a 3D thin surface. We introduce a closed-loop algorithm to control an external rotating magnetic field in order to precisely manipulate the SPRMM along a predefined arbitrary moving path. We also construct a biplane, vision-based image processing procedure to obtain the real-time 3D position of the SPRMM. We then construct an experimental setup to demonstrate precise rolling locomotion of the SPRMM on a 3D, complex thin surface.
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