Wheels Optimization and Vision Control of Omni-directional Mobile Microrobot

International Journal of Advanced Robotic Systems

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