کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / هشتمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Design and implementation of a 3D positioning and control capsule robot using magnetic waves

نویسندگان :

Hamidreza Mahmoodzadeh¹ Vahid Johari Majd² Abbas EhsaniSeresht³

1- Tarbiat Modares University 2- Tarbiat Modares University 3- Hakim Sabzevari University

کلمات کلیدی :

Capsule robot، endoscopy، sliding mode control، electromagnetic، image processing

چکیده :

Capsule endoscopy robots have been used to detect digestive diseases in recent years. This paper explores the design and implementation of capsule robot localization and control systems using magnetic waves. The built system includes five external electromagnetic coils, and a permanent magnet added to the inactive capsule robot, which is available on the market. The instantaneous position of the robot is calculated through image processing. Moreover, The speed of the robot and the coil’s current is measured using the rate of the position and the current sensor. A sliding mode controller is designed for 3D motion of the robot in the digestive system test environment in the lab. Our results show the suitable performance of the robot in tracking the desired position.

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