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

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2023

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

JOURNAL OF COMPUTATIONAL AND APPLIED MATHEMATICS

ISSN

0377-0427

e-ISSN

1879-1778

Svazek periodika

429

Číslo periodika v rámci svazku

September 2023

Stát vydavatele periodika

NL - Nizozemsko

Počet stran výsledku

12

Strana od-do

—

Kód UT WoS článku

000971523800001

EID výsledku v databázi Scopus

2-s2.0-85150430904