Path Tracking Control for Micro-robots with Helmholtz-Maxwell Coils Actuation

Daniel F. Murcia Rivera; Hernando Leon-Rodriguez

doi:10.1007/978-3-030-31019-6_6

Path Tracking Control for Micro-robots with Helmholtz-Maxwell Coils Actuation

Daniel F. Murcia Rivera, Hernando Leon-Rodriguez

Universidad Militar Nueva Granada

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This work is dedicated to present a proposed control system for tridimensional and planar position of a magnetized micro-robot on a high viscous medium with electromagnetic actuation. Detailed process for control derivation, simulation and experiments are exposed.

Original language	English
Title of host publication	Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings
Editors	Juan Carlos Figueroa-García, Mario Duarte-González, Sebastián Jaramillo-Isaza, Alvaro David Orjuela-Cañon, Yesid Díaz-Gutierrez
Publisher	Springer
Pages	64-77
Number of pages	14
ISBN (Print)	9783030310189
DOIs	https://doi.org/10.1007/978-3-030-31019-6_6
State	Published - 2019
Externally published	Yes
Event	6th Workshop on Engineering Applications, WEA 2019 - Santa Marta, Colombia Duration: 16 Oct 2019 → 18 Oct 2019

Publication series

Name	Communications in Computer and Information Science
Volume	1052
ISSN (Print)	1865-0929
ISSN (Electronic)	1865-0937

Conference

Conference	6th Workshop on Engineering Applications, WEA 2019
Country/Territory	Colombia
City	Santa Marta
Period	16/10/19 → 18/10/19

Keywords

Discrete control
Electromagnetic actuation
Micro-robot
Path tracking

Access to Document

10.1007/978-3-030-31019-6_6

Cite this

Murcia Rivera, D. F., & Leon-Rodriguez, H. (2019). Path Tracking Control for Micro-robots with Helmholtz-Maxwell Coils Actuation. In J. C. Figueroa-García, M. Duarte-González, S. Jaramillo-Isaza, A. D. Orjuela-Cañon, & Y. Díaz-Gutierrez (Eds.), Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings (pp. 64-77). (Communications in Computer and Information Science; Vol. 1052). Springer. https://doi.org/10.1007/978-3-030-31019-6_6

Murcia Rivera, Daniel F. ; Leon-Rodriguez, Hernando. / Path Tracking Control for Micro-robots with Helmholtz-Maxwell Coils Actuation. Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings. editor / Juan Carlos Figueroa-García ; Mario Duarte-González ; Sebastián Jaramillo-Isaza ; Alvaro David Orjuela-Cañon ; Yesid Díaz-Gutierrez. Springer, 2019. pp. 64-77 (Communications in Computer and Information Science).

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title = "Path Tracking Control for Micro-robots with Helmholtz-Maxwell Coils Actuation",

abstract = "This work is dedicated to present a proposed control system for tridimensional and planar position of a magnetized micro-robot on a high viscous medium with electromagnetic actuation. Detailed process for control derivation, simulation and experiments are exposed.",

keywords = "Discrete control, Electromagnetic actuation, Micro-robot, Path tracking",

author = "{Murcia Rivera}, {Daniel F.} and Hernando Leon-Rodriguez",

note = "Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.; 6th Workshop on Engineering Applications, WEA 2019 ; Conference date: 16-10-2019 Through 18-10-2019",

year = "2019",

doi = "10.1007/978-3-030-31019-6_6",

language = "English",

isbn = "9783030310189",

series = "Communications in Computer and Information Science",

publisher = "Springer",

pages = "64--77",

editor = "Figueroa-Garc{\'i}a, {Juan Carlos} and Mario Duarte-Gonz{\'a}lez and Sebasti{\'a}n Jaramillo-Isaza and Orjuela-Ca{\~n}on, {Alvaro David} and Yesid D{\'i}az-Gutierrez",

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Murcia Rivera, DF & Leon-Rodriguez, H 2019, Path Tracking Control for Micro-robots with Helmholtz-Maxwell Coils Actuation. in JC Figueroa-García, M Duarte-González, S Jaramillo-Isaza, AD Orjuela-Cañon & Y Díaz-Gutierrez (eds), Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings. Communications in Computer and Information Science, vol. 1052, Springer, pp. 64-77, 6th Workshop on Engineering Applications, WEA 2019, Santa Marta, Colombia, 16/10/19. https://doi.org/10.1007/978-3-030-31019-6_6

Path Tracking Control for Micro-robots with Helmholtz-Maxwell Coils Actuation. / Murcia Rivera, Daniel F.; Leon-Rodriguez, Hernando.
Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings. ed. / Juan Carlos Figueroa-García; Mario Duarte-González; Sebastián Jaramillo-Isaza; Alvaro David Orjuela-Cañon; Yesid Díaz-Gutierrez. Springer, 2019. p. 64-77 (Communications in Computer and Information Science; Vol. 1052).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Path Tracking Control for Micro-robots with Helmholtz-Maxwell Coils Actuation

AU - Murcia Rivera, Daniel F.

AU - Leon-Rodriguez, Hernando

PY - 2019

Y1 - 2019

N2 - This work is dedicated to present a proposed control system for tridimensional and planar position of a magnetized micro-robot on a high viscous medium with electromagnetic actuation. Detailed process for control derivation, simulation and experiments are exposed.

AB - This work is dedicated to present a proposed control system for tridimensional and planar position of a magnetized micro-robot on a high viscous medium with electromagnetic actuation. Detailed process for control derivation, simulation and experiments are exposed.

KW - Discrete control

KW - Electromagnetic actuation

KW - Micro-robot

KW - Path tracking

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U2 - 10.1007/978-3-030-31019-6_6

DO - 10.1007/978-3-030-31019-6_6

M3 - Conference contribution

AN - SCOPUS:85075681816

SN - 9783030310189

T3 - Communications in Computer and Information Science

SP - 64

EP - 77

BT - Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings

A2 - Figueroa-García, Juan Carlos

A2 - Duarte-González, Mario

A2 - Jaramillo-Isaza, Sebastián

A2 - Orjuela-Cañon, Alvaro David

A2 - Díaz-Gutierrez, Yesid

PB - Springer

T2 - 6th Workshop on Engineering Applications, WEA 2019

Y2 - 16 October 2019 through 18 October 2019

ER -

Murcia Rivera DF, Leon-Rodriguez H. Path Tracking Control for Micro-robots with Helmholtz-Maxwell Coils Actuation. In Figueroa-García JC, Duarte-González M, Jaramillo-Isaza S, Orjuela-Cañon AD, Díaz-Gutierrez Y, editors, Applied Computer Sciences in Engineering - 6th Workshop on Engineering Applications, WEA 2019, Proceedings. Springer. 2019. p. 64-77. (Communications in Computer and Information Science). doi: 10.1007/978-3-030-31019-6_6

Path Tracking Control for Micro-robots with Helmholtz-Maxwell Coils Actuation

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Keywords

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