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Dynamic modelling and control of a sphere-based micro robot with adjustable arm

Esfandbod, A ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1109/MARSS.2018.8481143
  3. Abstract:
  4. In this article, we propose a three-dimensional model of a low-Reynolds-number swimmer that consists of three small spheres connected to a larger sphere via three perpendicular adjustable rods which enable the micro robot to swim along arbitrary trajectories. Then we focus on dynamic modelling of the swimmer and propose a control method to control the position of the micro swimmer in a low Reynolds number flow. The control aim intended in this article is that the middle sphere to follow a desired trajectory and respective simulation results from control indicates successful accomplishment in application. © 2018 IEEE
  5. Keywords:
  6. Low-reynolds-number swimmer ; Sphere-based micro robot ; Reynolds number ; Robotics ; Robots ; Arbitrary trajectories ; Desired trajectories ; Low reynolds number ; Low reynolds number flow ; Micro robots ; Modelling and controls ; Stokes equations ; Three-dimensional model ; Spheres
  7. Source: MARSS 2018 - International Conference on Manipulation, Automation and Robotics at Small Scales, 4 July 2018 through 8 July 2018 ; 2018 ; 9781538648414 (ISBN)
  8. URL: https://ieeexplore.ieee.org/document/8481143