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Visual Control Of Planar Micro-Robots


R. Caminada

Semester Thesis, HS13 (10341)

In this work a visual control system is used to magnetically control a micro- robot. The system consists of a magnetic eld generator, a micro-robot and a visual control system. The rotating magnetic eld generates a force which drives the robot. It is supposed to be used for the automatic transportation of protein crystals. Di erent control algorithms have been implemented to drive the robot to desired positions or to track desired trajectories which represent potential ways of transportation. Results of these algorithms are presented and compared to each other in order to pick the best one as a potential control algorithm that nally will allow automatic transportation of the crystals.


Type of Publication:

(13)Semester/Bachelor Thesis

J. Lygeros

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2014:IFA_4718
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