Title:	Magnetic actuation of miniature robots on planar surfaces: Mathematical modeling and estimation of parameters
Authors:	Koua, Kadio Ettien Jean Kuthan, Jiří Juřík, Martin Vítek, Martin Mach, František
Citation:	KOUA, KEJ. KUTHAN, J. JUŘÍK, M. VÍTEK, M. MACH, F. Magnetic actuation of miniature robots on planar surfaces: Mathematical modeling and estimation of parameters. JOURNAL OF COMPUTATIONAL AND APPLIED MATHEMATICS, 2023, roč. 429, č. September 2023, s. nestránkováno. ISSN: 0377-0427
Issue Date:	2023
Publisher:	Elsevier
Document type:	článek article
URI:	2-s2.0-85150430904 http://hdl.handle.net/11025/51895
ISSN:	0377-0427
Keywords in different language:	mathematical model;motion equations;miniature robot;magnetic field;estimator
Abstract in different language:	Magnetic actuation methods for miniature robots are widely used thanks to their massive applications for precise micro-manipulations in inaccessible or hardly accessible environments, including medical and biological operations. The system studied is composed of miniature robots with permanent magnets inside the body and a coplanar coils actuator. This paper is aimed at the mathematical modeling of robots’ movement, taking uncertainties and unmodeled dynamics into account. The crucial parameter is the friction coefficient between the planar actuator and the robot as it moves. An approach has been proposed to estimate it using the Kalman filter. Numerical simulations are compared with experiments to illustrate the effectiveness of the proposed approach.
Rights:	Plný text je přístupný v rámci univerzity přihlášeným uživatelům © Elsevier B.V.
Appears in Collections:	Články / Articles (RICE) Články / Articles (KEP) OBD

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.