Modeling and Motion Control of a Magnetically Navigated Microrobotic System
نویسندگان
چکیده
This paper presents a technology for remotely navigating a magnetized microrobot in three-degree-of-freedom (3-DOF) using magnetic energy. The magnetic energy source is a magnetic drive unit that consists of six iron-core electromagnets, a soft-iron yoke, and a soft-iron pole-piece. The dynamic models of the magnetically navigated microrobot were derived from the magnetic field model in the workspace. An experimental method was applied to define the magnetic field model. Based on the derived dynamic models, a feed-forward plus standard PID controller was used to control the motion of the microrobot with 3-DOF. Experiment was conducted to validate the performance of the proposed controller. The experimental results showed 20μm motion accuracy in 3-DOF in a motion range of 10×10×30mm3.
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