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Closed Loop Control of Bubble-Propelled Microrobots
Yanda Yang1, David Rivas1, Max Sokolich1
1Department of Mechanical Engineering, University of Delaware, Newark, DE 19716, United States.
... International Conference on Manipulation Automation and Robotics at Small Scales (MARSS). International Conference on Manipulation Automation and Robotics at Small Scales
|July 4, 2024
Summary
This study introduces automated control for fast bubble-propelled microrobots using visual feedback and magnetic fields. This method enables precise autonomous navigation, overcoming speed-related control challenges.
Area of Science:
- Robotics
- Microtechnology
- Control Systems
Background:
- Bubble-propelled microrobots offer high speed for applications like micromanipulation and flow navigation.
- Their rapid movement presents significant challenges for precise motion control.
Purpose of the Study:
- To develop an automated control system for bubble-propelled microrobots.
- To enhance precise navigation and trajectory tracking of these microrobots.
Main Methods:
- Implementing visual feedback for real-time microrobot monitoring.
- Utilizing uniform magnetic fields for steering and direction constraint.
- Employing a closed-loop control mechanism for autonomous navigation.
Main Results:
- Demonstrated satisfactory tracking performance for microrobot navigation.
- Achieved an average tracking error of 6.7 micrometers for a 24-micrometer microrobot.
- Successfully enabled precise autonomous navigation along prescribed trajectories.
Conclusions:
- Automated control using visual feedback and magnetic fields effectively addresses the motion control challenges of high-speed microrobots.
- The proposed closed-loop system ensures accurate trajectory following.
- This approach enhances the applicability of bubble-propelled microrobots in various fields.
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