Motion Control Simulations for a Magnetically-Coupled Bacterium and Robotic Arm
Abstract
The demonstrations of micro-robotic systems in minimally invasive medicine include an individual or a swarm of microswimmer of various origin, artificial or biohybrid, often with an external computer-controlled electromagnetic field. There are several in vivo and in vitro control performances with artificial microswimmers but control of a bio-hybrid microswimmer using an open kinematic chain remains untouched. In this work, non-contact maneuvering control of a single magnetotactic bacterium cell is simulated. The results show that the proposed system is capable of adjusting the heading of the microswimmer moving at proximity to a 2D boundary under the guidance of the set-point tracking scheme. The performance of the coupled model and the sensitivity to control parameters are demonstrated with the help of a time-dependent error to the yaw-angle reference under the influence of PID with adaptive integral gain.
Keywords
Cite
@article{arxiv.2003.07272,
title = {Motion Control Simulations for a Magnetically-Coupled Bacterium and Robotic Arm},
author = {Ahmet Fatih Tabak},
journal= {arXiv preprint arXiv:2003.07272},
year = {2020}
}
Comments
International Conference on Manipulation, Automation and Robotics at Small Scales, 2020, Toronto, Canada (Submitted, Accepted, Corrected, to be submitted to MARSS2021)