Micro-robot control method based on double closed-loop 3D path tracking
A micro-robot, path tracking technology, applied in the direction of AC motor control, control system, adaptive control, etc., can solve the problems of response delay and low adaptability, unable to establish response speed in a timely and accurate manner, loss of function, etc., to achieve a fast path tracking effect
Active Publication Date: 2021-08-03
JIANGNAN UNIV
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Problems solved by technology
The path tracking control of the existing magnetic micro-robots is mostly applied in the plane range, and the single-closed-loop path tracking is mostly used, that is, the pose information of the magnetic micro-machine in the plane is obtained through the visual feedback of the camera to establish a position closed loop to realize the tracking in the plane range. There are some problems of response delay and low adaptability
On the one hand, due to the response delay of the magnetic field generating device in a high-frequency environment, the driving device used is often unable to establish the required magnetic field in time and accurately, resulting in a slow response speed
On the other hand, for the complex human environment, we hope that the magnetic microrobot can complete the tracking of the three-dimensional path. The above method is feasible in the field of planar path tracking control, but the above control method is useless when applied to the path tracking in the three-dimensional environment.
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[0067] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
[0068] This application discloses a micro-robot magnetic drive device based on double closed-loop three-dimensional path tracking, figure 1 The schematic diagram of the magnetic drive device is shown, and the magnetic drive device includes an electromagnetic coil module, a DC current source module, a PWM inverter circuit, a current sensor, a host computer, and two cameras. The PWM inverter circuit can shorten the establishment time of the desired magnetic field and make the desired magnetic field more stable, and the host computer can quickly give the coordinates of the desired position and the running track information of the magnetic micro-robot. combine Figure 2-Figure 4 As shown, the electromagnetic coil module includes six primary iron cores 2 with trapezoidal probes 1, Helmholtz coils 3 and coil supports arranged on the primary iron ...
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The invention discloses a micro-robot control method based on double-closed-loop three-dimensional path tracking, and relates to the technical field of micro-nano robot control. The method includes: inputting a desired tracking path, obtaining current pose information of a magnetic micro-robot through a camera, and then calculating the centroid position, The actual axis direction, the coordinates of the point closest to the center of mass on the expected tracking path, and the tangent direction of this point; calculate the horizontal distance, vertical distance, azimuth error, and pitch angle of the two points based on the actual axis direction, tangent direction, and disturbance compensation Error; According to the designed position closed-loop controller, the required rotating magnetic field is obtained, and the current closed-loop magnetic field controller controls the Helmholtz coil to generate the desired magnetic field according to the rotating magnetic field and the feedback coil output current closed-loop, so that the magnetic micro-robot can complete the desired tracking Path tracking. The method adopts the double closed-loop control of position and current feedback to accurately complete the tracking of the three-dimensional path.
Description
technical field [0001] The invention relates to the technical field of micro-nano robot control, in particular to a micro-robot control method based on double closed-loop three-dimensional path tracking. Background technique [0002] The miniaturization of robots provides solutions for various applications in complex and dangerous environments. Electromagnetically driven magnetic microrobots can be used in medical environments, and magnetic microrobots can be used to carry and transport drugs to achieve minimally invasive without harming the human body. treat. To perform such tasks magnetic microrobots should be able to track the desired path. The path tracking control of the existing magnetic micro-robots is mostly applied in the plane range, and the single-closed-loop path tracking is mostly used, that is, the pose information of the magnetic micro-machine in the plane is obtained through the visual feedback of the camera to establish a position closed loop to realize the...
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IPC IPC(8): G05B13/04
CPCG05B13/042A61B1/00006A61B1/00158A61B1/041A61B5/062A61B34/20A61B34/72A61B34/73A61B2017/00345A61B2034/2065H02P27/08B25J7/00B25J9/126B25J9/1602B25J9/1664B25J9/1697
Inventor樊启高陈伟谢林柏朱一昕杨国锋李岳阳毕恺韬黄文涛罗海驰赵正青
OwnerJIANGNAN UNIV