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

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Book cover Applied Computer Sciences in Engineering (WEA 2019)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1052))

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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.

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Acknowledgement

This research was supported by the project Inv-Ing-2106 Nueva Granada Military University of Colombia.

Author information

Authors and Affiliations

  1. Industrial and Mechatronics Engineering Departments, Faculty of Engineering, Nueva Granada Military University, Bogota, Colombia

    Daniel F. Murcia Rivera & Hernando Leon-Rodriguez

Authors
  1. Daniel F. Murcia Rivera
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  2. Hernando Leon-Rodriguez
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Corresponding authors

Correspondence to Daniel F. Murcia Rivera or Hernando Leon-Rodriguez .

Editor information

Editors and Affiliations

  1. Department of Industrial Engineering, Universidad Distrital Francisco José de Caldas, Bogotá, Colombia

    Juan Carlos Figueroa-García

  2. Universidad Antonio Nariño, Bogotá, Colombia

    Mario Duarte-González

  3. Universidad Antonio Nariño, Bogotá, Colombia

    Sebastián Jaramillo-Isaza

  4. Universidad del Rosario, Bogotá, Colombia

    Alvaro David Orjuela-Cañon

  5. Corporación Unificada Nacional CUN, Bogotá, Colombia

    Yesid Díaz-Gutierrez

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

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  • DOI: https://doi.org/10.1007/978-3-030-31019-6_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-31018-9

  • Online ISBN: 978-3-030-31019-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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