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Communication Dans Un Congrès Année : 2013

Model Characterization of Magnetic Microrobot Navigating in Viscous Environment

Résumé

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.
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Dates et versions

hal-00864770 , version 1 (07-02-2014)

Identifiants

  • HAL Id : hal-00864770 , version 1

Citer

Karim Belharet, Yang Chunbo, David Folio, Antoine Ferreira. Model Characterization of Magnetic Microrobot Navigating in Viscous Environment. International Symposium on Optomechatronic Technologies (ISOT'2013), Oct 2013, Jeju, South Korea. pp.99. ⟨hal-00864770⟩
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