The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 26, 2024
Filed:
Nov. 09, 2021
Jiangnan University, Wuxi, CN;
Qigao Fan, Wuxi, CN;
Wei Chen, Wuxi, CN;
Linbai Xie, Wuxi, CN;
Yixin Zhu, Wuxi, CN;
Guofeng Yang, Wuxi, CN;
Yueyang Li, Wuxi, CN;
Kaitao Bi, Wuxi, CN;
Wentao Huang, Wuxi, CN;
Haichi Luo, Wuxi, CN;
Zhengqing Zhao, Wuxi, CN;
JIANGNAN UNIVERSITY, Jiangsu, CN;
Abstract
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.