Informations

Type
inproceedings
Key
2013_isot_belharet
Authors
Belharet, Karim and Chunbo, Yang and Folio, David and Ferreira, Antoine
HAL
00864770
2013_isot_belharet.

Abstract

In this paper we aim to characterize and validate the system's dynamic model of a magnetic microrobot navigating in viscous flow. First, the controlled magnetic forces exerted on the magnetic microrobot was calibrated, validating the magnetic model. Secondly, the external forces were characterized on-line from digital microscope measurements. Especially, unlike common approaches used with microscope where orthographic projection model were used, we have proposed to consider the weak-perspective model. Thus, the proposed vision-based force characterization allows us to retrieve the 3D translational velocities and accelerations of the magnetic microrobot viewed from a digital microscope. Experimental results in two different environments illustrate the efficiency of the proposed method

Keywords


BibTeX:

 @inproceedings{2013_isot_belharet,
  title = {Model Characterization of Magnetic Microrobot Navigating in Viscous Environment},
  author = {Belharet, Karim and Chunbo, Yang and Folio, David and Ferreira, Antoine},
  booktitle = {International Symposium on Optomechatronic Technologies (ISOT\'2013)},
  year = {2013},
  month = oct,
  address = {Jeju Island, Korea},
  hal = {00864770},
  keywords = {Microrobot, Vision-Based Force sensing, Magnetic Microrobot Navigating, Coils, Micromagnetics,Viscosity, Viscous flow}
}