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题名:
3D motion control and target manipulation of small magnetic robot
作者: 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
通讯作者: 焦念东 ; 刘连庆
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: Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
会议录出版者: Springer Verlag
会议录出版地: Berlin
出版日期: 2017
页码: 110-119
收录类别: EI
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
产权排序: 1
EI收录号: 20173504107659
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/20859
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Wang JY,Jiao ND,Yang YL,et al. 3D motion control and target manipulation of small magnetic robot[C]. 10th International Conference on Intelligent Robotics and Applications, ICIRA 2017. Wuhan, China. August 16-18, 2017.3D motion control and target manipulation of small magnetic robot.
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