A 5-D Localization Method for a Magnetically Manipulated Untethered Robot Using a 2-D Array of Hall-Effect Sensors

Title
A 5-D Localization Method for a Magnetically Manipulated Untethered Robot Using a 2-D Array of Hall-Effect Sensors
Authors
임세혁Donghoon SonMetin Sitti
Issue Date
2016-04
Publisher
IEEE/ASME transactions on mechatronics : a joint publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division
Citation
VOL 21, NO 2-716
Abstract
This paper introduces a new 5-D localization method for an untetheredmeso-scalemagnetic robot, which is manipulated by a computer-controlled electromagnetic system. The developed magnetic localization setup is a 2D array (8 x 8) of mono-axial Hall-effect sensors, which measure the perpendicular magnetic fields at their given positions. We introduce two steps for localizing a magnetic robot more accurately. First, the dipole-modeled magnetic field of the electromagnet is subtracted from the measured data in order to determine the robot's magnetic field. Second, the subtracted magnetic field is twice differentiated in the perpendicular direction of the array, so that the effect of the electromagnetic field in the localization process is minimized. Five variables regarding the position and orientation of the robot are determined by minimizing the error between the measured magnetic field and the modeled-magnetic field in an optimization method. The resulting position error is 2.1 +/- 0.8 mm and angular error is 6.7 +/- 4.3. within the applicable range (5 cm) of magnetic field sensors at 200 Hz. The proposed localization method would be used for the position feedback control of untethered magnetic devices or robots for medical applications in the future.
URI
http://pubs.kist.re.kr/handle/201004/65048
ISSN
1083-4435
Appears in Collections:
KIST Publication > Article
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