论文标题
磁耦合细菌和机器人臂的运动控制模拟
Motion Control Simulations for a Magnetically-Coupled Bacterium and Robotic Arm
论文作者
论文摘要
微创医学中的微生物系统的演示包括各种起源的个人或一群微型威默斯，通常具有外部计算机控制的电磁场。人工微晶状体有几种体内和体外控制性能，但是使用开放的运动学链对生物杂交微观运动员的控制仍未受到影响。在这项工作中，模拟了单个磁法细胞细胞的非接触式机动控制。结果表明，所提出的系统能够在设定点跟踪方案的指导下调整以接近度移动到2D边界的微型威格斯的标题。耦合模型的性能和对控制参数的敏感性在PID的影响下以时间依赖性误差为偏航角的帮助，并具有自适应积分增益。
The demonstrations of micro-robotic systems in minimally invasive medicine include an individual or a swarm of microswimmer of various origin, artificial or biohybrid, often with an external computer-controlled electromagnetic field. There are several in vivo and in vitro control performances with artificial microswimmers but control of a bio-hybrid microswimmer using an open kinematic chain remains untouched. In this work, non-contact maneuvering control of a single magnetotactic bacterium cell is simulated. The results show that the proposed system is capable of adjusting the heading of the microswimmer moving at proximity to a 2D boundary under the guidance of the set-point tracking scheme. The performance of the coupled model and the sensitivity to control parameters are demonstrated with the help of a time-dependent error to the yaw-angle reference under the influence of PID with adaptive integral gain.
