Title :
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
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;
Conference_Titel :
Mechatronics and Automation (ICMA), 2010 International Conference on
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-5140-1
Electronic_ISBN :
2152-7431
DOI :
10.1109/ICMA.2010.5589190
