Differential Magnetic Localization Method for the Microrobot with Two Cylindrical Permanent Magnets
In order to find an effective method to control the wireless medical microrobot in vivo, such as the gastrointestinal tract and hemocoele, a specified kind of microrobot is proposed. It has two permanent magnets which are vertical each other, and is driven by the external rotating magnetic field. However obtaining the position and the orientation of the microrobot is the precondition of controlling it. So a differential localization method is developmental considering the strong background magnetic field. This method is based on magnetic dipoles model and nonlinear least square optimization algorithm. The numerical simulation results show the proposed method is effective.
Magnetic localization Microrobot Nonlinear least square
XU Jiansheng SONG Tao
Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing 100190
国际会议
The 31st Chinese Control Conference(第三十一届中国控制会议)
合肥
英文
4798-4802
2012-07-01（万方平台首次上网日期，不代表论文的发表时间）