Magnetic actuation of miniature robots on planar surfaces: Mathematical modeling and estimation of parameters

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dc.contributor.authorKoua, Kadio Ettien Jean
dc.contributor.authorKuthan, Jiří
dc.contributor.authorJuřík, Martin
dc.contributor.authorVítek, Martin
dc.contributor.authorMach, František
dc.date.accessioned2023-05-22T10:00:15Z
dc.date.available2023-05-22T10:00:15Z
dc.date.issued2023
dc.description.abstract-translatedMagnetic actuation methods for miniature robots are widely used thanks to their massive applications for precise micro-manipulations in inaccessible or hardly accessible environments, including medical and biological operations. The system studied is composed of miniature robots with permanent magnets inside the body and a coplanar coils actuator. This paper is aimed at the mathematical modeling of robots’ movement, taking uncertainties and unmodeled dynamics into account. The crucial parameter is the friction coefficient between the planar actuator and the robot as it moves. An approach has been proposed to estimate it using the Kalman filter. Numerical simulations are compared with experiments to illustrate the effectiveness of the proposed approach.en
dc.format12 s.cs
dc.format.mimetypeapplication/pdf
dc.identifier.citationKOUA, KEJ. KUTHAN, J. JUŘÍK, M. VÍTEK, M. MACH, F. Magnetic actuation of miniature robots on planar surfaces: Mathematical modeling and estimation of parameters. JOURNAL OF COMPUTATIONAL AND APPLIED MATHEMATICS, 2023, roč. 429, č. September 2023, s. nestránkováno. ISSN: 0377-0427cs
dc.identifier.document-number971523800001
dc.identifier.doi10.1016/j.cam.2023.115223
dc.identifier.issn0377-0427
dc.identifier.obd43939395
dc.identifier.uri2-s2.0-85150430904
dc.identifier.urihttp://hdl.handle.net/11025/51895
dc.language.isoenen
dc.project.IDSGS-2021-011/Rozvoj technik snižování řádu systému v elektrotechnických aplikacíchcs
dc.publisherElsevieren
dc.relation.ispartofseriesJournal Of Computational And Applied Mathematicsen
dc.rightsPlný text je přístupný v rámci univerzity přihlášeným uživatelůmcs
dc.rights© Elsevier B.V.en
dc.rights.accessrestrictedAccessen
dc.subject.translatedmathematical modelen
dc.subject.translatedmotion equationsen
dc.subject.translatedminiature roboten
dc.subject.translatedmagnetic fielden
dc.subject.translatedestimatoren
dc.titleMagnetic actuation of miniature robots on planar surfaces: Mathematical modeling and estimation of parametersen
dc.typečlánekcs
dc.typearticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen

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