Uncalibrated Visual Servo Control of Miniature Magnetic Robots on Planar Surface

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23220%2F24%3A43972564" target="_blank" >RIV/49777513:23220/24:43972564 - isvavai.cz</a>

Výsledek na webu

<a href="https://ieeexplore.ieee.org/document/10612709" target="_blank" >https://ieeexplore.ieee.org/document/10612709</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/MARSS61851.2024.10612709" target="_blank" >10.1109/MARSS61851.2024.10612709</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Uncalibrated Visual Servo Control of Miniature Magnetic Robots on Planar Surface

Popis výsledku v původním jazyce

The control of magnetic minirobot is an important area of research because it allows precise micromanipulations and micro-assemblies to be carried out, including medical, biological operations, etc. However, the nonlinear dependence of the electromagnetic force on the current makes the control difficult. In this paper, we used an uncalibrated visual servoing contol to drive the magnetic minirobots to a fixed desired position or through trajectories. The visual features through the Jacobian matrix are estimated by recursive least square and were proposed in [1], [2]. This estimation is used in the control law to supply the required currents for the electromagnetic coils. The controller has been implemented and tested on our physical system with different minirobots. It is independent of the robotic system, robot type, camera configurations. From experimental results, the controller achieves a lower average RMSE for straight and curved trajectories which are aproximately between 4.7 and 5.6 pixels or 1 and 1.2 mm. Additionally, the choice of control variable shows a difference of more than 20 % in terms of energy dissipated during motion control.

Název v anglickém jazyce

Uncalibrated Visual Servo Control of Miniature Magnetic Robots on Planar Surface

Popis výsledku anglicky

The control of magnetic minirobot is an important area of research because it allows precise micromanipulations and micro-assemblies to be carried out, including medical, biological operations, etc. However, the nonlinear dependence of the electromagnetic force on the current makes the control difficult. In this paper, we used an uncalibrated visual servoing contol to drive the magnetic minirobots to a fixed desired position or through trajectories. The visual features through the Jacobian matrix are estimated by recursive least square and were proposed in [1], [2]. This estimation is used in the control law to supply the required currents for the electromagnetic coils. The controller has been implemented and tested on our physical system with different minirobots. It is independent of the robotic system, robot type, camera configurations. From experimental results, the controller achieves a lower average RMSE for straight and curved trajectories which are aproximately between 4.7 and 5.6 pixels or 1 and 1.2 mm. Additionally, the choice of control variable shows a difference of more than 20 % in terms of energy dissipated during motion control.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2024

Kód důvěrnosti údajů

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

Název statě ve sborníku

2024 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)

ISBN

979-8-3503-7680-7

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

—

Název nakladatele

IEEE

Místo vydání

Piscataway

Místo konání akce

Delft, Netherlands

Datum konání akce

1. 7. 2024

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

001304062700024