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

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23220%2F23%3A43968395" target="_blank" >RIV/49777513:23220/23:43968395 - isvavai.cz</a>
Result on the web
<a href="https://www.sciencedirect.com/science/article/pii/S037704272300167X" target="_blank" >https://www.sciencedirect.com/science/article/pii/S037704272300167X</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.cam.2023.115223" target="_blank" >10.1016/j.cam.2023.115223</a>

Result language
angličtina
Original language name
Magnetic actuation of miniature robots on planar surfaces: Mathematical modeling and estimation of parameters
Original language description
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.
Czech name
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Czech description
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Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control

Publication year
2023
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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