一种新型仿生微型机器人的无缆测控系统  

Wireless Measurement and Control System for a Novel Bionic Micro-Robot

作　　者：王金光[1,2] 杨岑玉[1,2] 王喆[1,2] 王庆蒙[1,2] 宋涛[1] 

机构地区：[1]中国科学院电工研究所,北京100190 [2]中国科学院研究生院,北京100049

出　　处：《机器人》2010年第1期34-40,共7页Robot

基　　金：国家863计划资助项目(2006AA04Z249)

摘　　要：设计了一套基于磁场和射频信号的测控系统,用于实现仿趋磁细菌微型机器人的无缆操控及其运行参数的检测.测控系统包括微型机器人的位姿检测子系统和微型机器人控制子系统.检测子系统中,磁传感器阵列实时检测磁场信号,经过数据处理后获得微型机器人的状态信息,并与视频跟踪结果进行对照;控制子系统中,通过射频发射的PWM信号控制微型机器人的运动速度,同时通过导向磁场控制微型机器人的运动姿态.利用本系统,实验研究了微型机器人的90°转向运动,结果表明该系统能够有效控制微型机器人的运动.A measurement and control system based on magnetic field and radio signal is designed, which controls the magnetotactic bacterium-like micro-robot and measures its experimental parameters with wireless method. The measurement and control system consists of micro-robot posture measurement subsystem and micro-robot control subsystem. In the measurement subsystem, state of the micro-robot is obtained by processing the signal detected with magnetic sensors array in real time, and is compared with video tracking result. In the control subsystem, the speed of micro-robot is controlled by PWM （pulse-width modulation） signals of radio transmitter, and the orientation of the micro-robot is controlled by guide magnetic field. 90° turning movement control is studied experimentally in the system. And results verify that the system can effectively control the bionic micro-robot.

关 键 词：仿生微型机器人 测控系统 磁信号检测 视频跟踪 导向磁场 

分 类 号：TP216[自动化与计算机技术—检测技术与自动化装置]