Design and implement of control system for an autonoumous reconfigurable mobile microrobot

Author

Zhang, Dawei ; Li, Zhenbo ; Chen, Jiapin

Author_Institution

Res. Inst. of Micro & Nano Sci. & Technol., Shanghai Jiao Tong Univ., Shanghai, China

fYear

2010

fDate

4-7 Aug. 2010

Firstpage

1951

Lastpage

1956

Abstract

The paper describes a mobile reconfigurable microrobot actuated by millimeter-sized MEMS-based electromagnetic micromotor. To realize that the mobile reconfigurable microrobot is autonomous, its control system is designed in modularity and integrated. An image acquisition module with microcamera is developed so that the microrobot can take it and carry out vision-based inspection task. The distributed wireless control with hierarchical architecture of multiple reconfigurable microrobots is also presented.

Keywords

automatic optical inspection; cameras; control system CAD; distributed control; microcontrollers; microrobots; mobile robots; reconfigurable architectures; autonoumous reconfigurable mobile microrobot; control system design; distributed wireless control; hierarchical architecture; image acquisition module; microcamera; millimeter-sized MEMS-based electromagnetic micromotor; mobile reconfigurable microrobot; multiple reconfigurable microrobots; vision-based inspection task; Computer architecture; Driver circuits; Electromagnetics; Micromotors; Mobile communication; Robots; Wireless communication;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2010 International Conference on

Conference_Location

Xi´an

ISSN

2152-7431

Print_ISBN

978-1-4244-5140-1

Electronic_ISBN

2152-7431

Type

conf

DOI

10.1109/ICMA.2010.5589190

Filename

5589190