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

Published online by Cambridge University Press:  20 May 2022

Mobin Salehi Open the ORCID record for Mobin Salehi [Opens in a new window] ,
Hossein Nejat Pishkenari Open the ORCID record for Hossein Nejat Pishkenari [Opens in a new window]  and
Hassan Zohoor
Mobin Salehi
Affiliation:
Nanorobotics Laboratory, Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Hossein Nejat Pishkenari*
Affiliation:
Nanorobotics Laboratory, Department of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Hassan Zohoor
Affiliation:
Department of Mechanical Engineering, Sharif University of Technology; Academician, Academy of Sciences of IR Iran, Tehran, Iran
*
*Corresponding author. E-mail: [email protected]
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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.

Keywords

miniature robotmagnetic fieldposition controlHelmholtz coilneuro-fuzzy network
Type
Research Article
Information
Robotica , Volume 40 , Issue 11 , November 2022 , pp. 3895 - 3910
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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