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

Salehi, M ; Sharif University of Technology | 2022

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574722000662
  3. Publisher: Cambridge University Press , 2022
  4. Abstract:
  5. 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. © The Author(s), 2022. Published by Cambridge University Press
  6. Keywords:
  7. Helmholtz coil ; Magnetic field ; Miniature robot ; Controllers ; Fuzzy inference ; Fuzzy neural networks ; Magnetic fields ; Position control ; Wheels ; 'current ; Electromagnetic coils ; External magnetic field ; Helmholtz ; Helmholtz coil ; Magnetic robots ; Magnetic-field ; Miniature robots ; Neuro-fuzzy network ; Small scale ; Robots
  8. Source: Robotica ; Volume 40, Issue 11 , 2022 , Pages 3895-3910 ; 02635747 (ISSN)
  9. URL: https://www.cambridge.org/core/journals/robotica/article/abs/position-control-of-a-wheelbased-miniature-magnetic-robot-using-neurofuzzy-network/9A2AA4556A060E8E4897814F908EED24