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Micromachines 2014, 5(4), 797-813; doi:10.3390/mi5040797

Uncalibrated Visual Servo Control of Magnetically Actuated Microrobots in a Fluid Environment

1
Systems Engineering, United States Naval Academy, 105 Maryland Avenue, Annapolis, MD 21402, USA
2
Electrical and Computer Engineering, United States Naval Academy, 105 Maryland Avenue, Annapolis, MD 21402, USA
*
Author to whom correspondence should be addressed.
Received: 9 June 2014 / Revised: 19 July 2014 / Accepted: 12 September 2014 / Published: 26 September 2014
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Abstract

Microrobots have a number of potential applications for micromanipulation and assembly, but also offer challenges in power and control. This paper describes an uncalibrated vision-based control system for magnetically actuated microrobots operating untethered at the interface between two immiscible fluids. The microrobots are 20 μm thick and approximately 100–200 μm in lateral dimension. Several different robot shapes are investigated. The robots and fluid are in a 20 × 20 × 15 mm vial placed at the center of four electromagnets. Pulse width modulation of the electromagnet currents is used to control robot speed and direction. Given a desired position, a controller based on recursive least square estimation drives the microrobot to the goal without a priori knowledge of system parameters such as drag coefficients or intrinsic and extrinsic camera parameters. Results are verified experimentally using a variety of microrobot shapes and system configurations. View Full-Text
Keywords: microelectromechanical devices; microrobots; uncalibrated visual servoing microelectromechanical devices; microrobots; uncalibrated visual servoing
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Piepmeier, J.A.; Firebaugh, S.; Olsen, C.S. Uncalibrated Visual Servo Control of Magnetically Actuated Microrobots in a Fluid Environment. Micromachines 2014, 5, 797-813.

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