Position control of a wheel-based miniature magnetic robot using neuro-fuzzy network

Abstract

Untethered small-scale robots can accomplish tasks which are not feasible by conventional macro robots. In the current research, we have designed and fabricated a miniature magnetic robot actuated by an external magnetic field. The proposed robot has two coaxial wheels and one magnetic dipole which is capable of rolling and moving on the surface by variation in the direction of magnetic field. To generate the desired magnetic field, a Helmholtz electromagnetic coil is manufactured. To steer the robot to the desired position, at first the robot dynamics is investigated, and subsequently a controller based on a neuro-fuzzy network has been designed. Finally, the proposed controller is implemented experimentally and the performance of the control system is demonstrated.

Design and Dynamics Modelling of a Novel Rotary Magnetic Microrobot

“…Additionally, other studies have concentrated on developing control strategies specifically for single MRs. To this end, various approaches such as optimal control [20] and neuro-fuzzy network [21] have been employed.…”

A Control Interface for Autonomous Positioning of Magnetically Actuated Spheres Using an Artificial Neural Network

“…Using arrays of electromagnets controlled by ANNs, researchers have positioned millimeter-scale neodymium magnet (NdFeB) disc agents in 2D using an eight-coil array [22], generated real-time predictions of motion dynamics on polymer-based soft magnetic manipulators [23], as well as guided helical microswimmers in 3D [24] and through uncharacterized biomimetic environments [25]. Magnetically guided wheeled robots have been controlled using neuro-fuzzy networks [26], and researchers have made significant progress in guiding endoscopy instruments via intelligent controllers [27][28][29]. Recently, artificial neural networks have been combined with proportional resonant differential feed-forward control methods for controlling currents in coil arrays aimed at supplying rotational fields to magnetic robots, demonstrating improved control of the robot's position and rotation with extremely small error [30].…”

Calibrated analytical model for magnetic localization of wireless capsule endoscope based on onboard sensing

“…Alternatively, magnetic localization can be achieved by onboard sensing of an external magnetic source that generates either static magnetic fields (permanent magnet), alternating magnetic fields (electromagnetic magnets), or hybrid static and alternating magnetic fields [19][20][21][22]. In many previous studies, the permanent magnet is placed outside the WCE to make it more compatible with external magnetic manipulation of WCEs.…”