Effect of Locomotive Performance of Microrobot by Position Based Feedback Control System in GI tracts
- Effect of Locomotive Performance of Microrobot by Position Based Feedback Control System in GI tracts
- 박기태; 양성욱; 김진석; 김태송; 윤의성
- Microrobot; Position Control; Capsule Endoscope; Locmotion
- Issue Date
- 대한기계학회 2009년도 추계학술대회
- , 111-111
- 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.
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