Abstract
In this paper, we propose a magnetic actuation system (MAS) that integrates a pair of Helmholtz coils and three permanent magnets designed to control the position and attitude of a capsule robot. The three permanent magnets are controlled by motors to provide magnetic repulsive force, which are distributed at 120° in the plane. The Helmholtz coil provides a uniform magnetic field to control the capsule's attitude. A mathematical model of the proposed MAS based on the magnetic dipole model has been established to calculate the magnetic field in the workspace and the forces on the capsule robot. An optimization problem is designed to estimate the parameters of the permanent magnets when controlling the robot. Finally, the feasibility of the proposed system in levitating the capsule robot has been verified with experiments.
| Original language | English |
|---|---|
| Title of host publication | 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 1665-1669 |
| Number of pages | 5 |
| Edition | 2024 |
| ISBN (Electronic) | 9781665481090 |
| DOIs | |
| State | Published - 2024 |
| Externally published | Yes |
| Event | 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024 - Bangkok, Thailand Duration: 10 Dec 2024 → 14 Dec 2024 |
Conference
| Conference | 2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024 |
|---|---|
| Country/Territory | Thailand |
| City | Bangkok |
| Period | 10/12/24 → 14/12/24 |
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