A Compensation Method for Magnetic Localization on Capsule Robot in Medical Application

被引：11
作者：
Fu, Qiang [1 ]
Fan, Chunliu [2 ]
Wang, Xinrui [2 ]
Zhang, Songyuan [3 ]
Zhang, Xi [2 ]
Guo, Jian [1 ]
Guo, Shuxiang [4 ]
机构：
[1] Tianjin Univ Technol, Tianjin Int Joint Res & Dev Ctr, Tianjin Key Lab Control Theory & Applicat Complic, Tianjin 300380, Peoples R China
[2] Tianjin Univ Technol, Intelligent Robot Lab, Tianjin 300380, Peoples R China
[3] Harbin Inst Technol, State Key Lab Robot & Syst, Harbin 150001, Peoples R China
[4] Kagawa Univ, Dept Intelligent Mech Syst Engn, Takamatsu, Kagawa 7610396, Japan
来源：
IEEE SENSORS JOURNAL | 2021年 / 21卷 / 23期
关键词：
Robot sensing systems; Mathematical models; Magnetic sensors; Sensors; Robot kinematics; Sensor arrays; Permanent magnets; Capsule robot; compensation algorithm; magnetic localization; MICROROBOT; ACTUATION;
D O I：
10.1109/JSEN.2021.3121908
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
Aiming at the magnetic positioning accuracy of capsule robot and the magnetic coupling between capsule robot and external driving magnetic field, according to the requirements of capsule robot for position and attitude information, a magnetic positioning compensation method of capsule robot based on magnetic driving system is proposed. This method deduces the error formula according to the magnetic dipole model, optimizes the formula, reduces the number of unknowns, optimizes the calculation process and improves the positioning accuracy. At the same time, a compensation is added to solve the magnetic coupling problem between the external driving magnetic field three-axis Helmholtz coil and the capsule robot. Finally, several groups of experiments verify the effectiveness of the algorithm.
引用
收藏
页码：26690 / 26698
页数：9
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