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.
Origine : Fichiers produits par l'(les) auteur(s)
Loading...