Effect of Locomotive Performance of Microrobot by Position Based Feedback Control System in GI tracts

Title
Effect of Locomotive Performance of Microrobot by Position Based Feedback Control System in GI tracts
Authors
박기태양성욱김진석김태송윤의성
Keywords
Microrobot; Position Control; Capsule Endoscope; Locmotion
Issue Date
2009-11
Publisher
대한기계학회 2009년도 추계학술대회
Citation
, 111-111
Abstract
The control system that maintains uniform stroke of the mobile in the paddling based capsular microrobot is proposed to enhance the locomotive performance in gastrointestinal (GI) tracts. The optical encoder is designed and fabricated for the positional control of the mobile in the microrobot. Moreover, the stroke of the mobile that enhances the forwarding velocity of the micorobot is optimized. By comparing the objected displacement with the measured one under various driving voltage, the control performance is verified. The forwarding velocity of the microrobot is evaluated in accordance with the various driving voltages and strokes under two kinds of deformable conditions, latex tube and silicon tube. In the ex-vivo test, the forwarding velocity of the microrobot with the optimized stroke by the control system is increased. The control system works properly with high resolution and accuracy and the forwarding velocity of the microrobot is maximized under the optimized stroke.
URI
http://pubs.kist.re.kr/handle/201004/36751
Appears in Collections:
KIST Publication > Conference Paper
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