Jiangnan University

Yixin Zhu

Gang Wang

Linbai Xie

Qigao Fan

Kaitao Bi

Guofeng Yang

Zhengqing Zhao

Yueyang Li

Wentao Huang

Haichi Luo

A micro-robot magnetic drive device and a control method based on double closed loop three-dimensional path tracking are disclosed. The method includes: inputting a desired tracking path, obtaining current pose information of a magnetic micro-robot through a camera, and then calculating a position of a center of mass, an actual axial direction, coordinates of a desired position point with the shortest distance from the center of mass on a desired tracking path, and a tangent direction of this point; calculating a horizontal distance, a vertical distance, a direction angle error, and a pitch angle error of the two points according to the actual axial direction, the tangent direction, and disturbance compensation; and obtaining a required rotating magnetic field according to a designed position closed loop controller.

Micro-robot magnetic drive device and control method based on double closed loop three-dimensional path tracking

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Wuxi, China

Yixin Zhu