International Journal of Advanced Robotic Systems | |
Wheels Optimization and Vision Control of Omni-directional Mobile Microrobot | |
关键词: microrobot; dual-wheel; genetic algorithm; optimization; | |
DOI : 10.5772/5648 | |
学科分类:自动化工程 | |
来源: InTech | |
【 摘 要 】
This paper presents a millimeters scale omni-directional mobile microrobot with special dual-wheel structure. The microrobot was actuated by three electromagnetic micromotors of 2mm diameter. Dynamic analysis of translational and steering movements presented the relationship between the sizes of the dual-wheel structure and the output torque of the micromotor. Genetic algorithm (GA) was employed to optimize the dual-wheel's sizes for reducing the unnecessary torque consumption and improving the driving ability of the microrobot. A computer vision system contained two sets of feedback control is devised for the microrobot. Torque self-balance and current-limiting control approach are presented to ensure the accuracy of step movement. Experiment results demonstrate the feasibility of these concepts.
【 授权许可】
CC BY
【 预 览 】
Files | Size | Format | View |
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RO201902186101659ZK.pdf | 824KB | download |