Magnetic actuation of miniature robots on planar surfaces: Mathematical modeling and estimation of parameters

被引：2

作者：

Jean, Koua Kadio Ettien ^{[1
]}

Kuthan, Jiri ^{[1
]}

Jurik, Martin ^{[1
]}

Vitek, Martin ^{[1
]}

Mach, Frantisek ^{[1
]}

机构：

[1] Univ West Bohemia, Dept Elect & Computat Engn, Univ 8, Plzen 30100, Czech Republic

来源：

JOURNAL OF COMPUTATIONAL AND APPLIED MATHEMATICS | 2023年 / 429卷

关键词：

Mathematical model; Motion equations; Miniature robot; Magnetic field; Estimator; FILTER;

D O I：

10.1016/j.cam.2023.115223

中图分类号：

O29 [应用数学];

学科分类号：

070104 ;

摘要：

Magnetic actuation methods for miniature robots are widely used thanks to their massive applications for precise micro-manipulations in inaccessible or hardly accessible environments, including medical and biological operations. The system studied is composed of miniature robots with permanent magnets inside the body and a coplanar coils actuator. This paper is aimed at the mathematical modeling of robots' movement, taking uncertainties and unmodeled dynamics into account. The crucial parameter is the friction coefficient between the planar actuator and the robot as it moves. An approach has been proposed to estimate it using the Kalman filter. Numerical simulations are compared with experiments to illustrate the effectiveness of the proposed approach. (c) 2023 Elsevier B.V. All rights reserved.

引用

页数：12

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