Wireless Measurement and Control System for a Novel Bionic Micro-Robot
WANG Jinguang1,2, YANG Cenyu1,2, WANG Zhe1,2, WANG Qingmeng1,2, SONG Tao1
1. Institute of Electrical Engineering, Chinese Academy of Sciences, Beijing 100190, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
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. ROBOT, 2010, 32(1): 34-40..
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.
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