王金光, 杨岑玉, 王喆, 王庆蒙, 宋涛. 一种新型仿生微型机器人的无缆测控系统[J]. 机器人, 2010, 32(1): 34-40.
引用本文: 王金光, 杨岑玉, 王喆, 王庆蒙, 宋涛. 一种新型仿生微型机器人的无缆测控系统[J]. 机器人, 2010, 32(1): 34-40.
WANG Jinguang, YANG Cenyu, WANG Zhe, WANG Qingmeng, SONG Tao. Wireless Measurement and Control System for a Novel Bionic Micro-Robot[J]. ROBOT, 2010, 32(1): 34-40.
Citation: WANG Jinguang, YANG Cenyu, WANG Zhe, WANG Qingmeng, SONG Tao. Wireless Measurement and Control System for a Novel Bionic Micro-Robot[J]. ROBOT, 2010, 32(1): 34-40.

一种新型仿生微型机器人的无缆测控系统

Wireless Measurement and Control System for a Novel Bionic Micro-Robot

  • 摘要: 设计了一套基于磁场和射频信号的测控系统,用于实现仿趋磁细菌微型机器人的无缆操控及其运行参数的检测.测控系统包括微型机器人的位姿检测子系统和微型机器人控制子系统.检测子系统中,磁传感器阵列实时检测磁场信号,经过数据处理后获得微型机器人的状态信息,并与视频跟踪结果进行对照;控制子系统中,通过射频发射的PWM信号控制微型机器人的运动速度,同时通过导向磁场控制微型机器人的运动姿态.利用本系统,实验研究了微型机器人的90º转向运动,结果表明该系统能够有效控制微型机器人的运动.

     

    Abstract: A measurement and control system based on magnetic field and radio signal is designed,which controls the magnetotactic bacterium-like micro-robot and measures its experimental parameters with wireless method.The measurement and control system consists of micro-robot posture measurement subsystem and micro-robot control subsystem.In the mea-surement subsystem,state of the micro-robot is obtained by processing the signal detected with magnetic sensors array in real time,and is compared with video tracking result.In the control subsystem,the speed of micro-robot is controlled by PWM(pulse-width modulation) signals of radio transmitter,and the orientation of the micro-robot is controlled by guide magnetic field.90º turning movement control is studied experimentally in the system.And results verify that the system can effectively control the bionic micro-robot.

     

/

返回文章
返回