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Control Strategy of Vibrational Capsubot in Viscoelastic Environment
Shenyang Institute of Automation (SIA), Graduate School of the Chinese Academy of Sciences, Shenyang, China
Shenyang Institute of Automation (SIA), Graduate School of the Chinese Academy of Sciences, Shenyang, China
Shenyang Institute of Automation (SIA), Graduate School of the Chinese Academy of Sciences, Shenyang, China
Shenyang Institute of Automation (SIA), Graduate School of the Chinese Academy of Sciences, Shenyang, China
- 1 Shenyang Institute of Automation (SIA), Graduate School of the Chinese Academy of Sciences, Shenyang, China
- 2 Shenyang Institute of Automation (SIA), Graduate School of the Chinese Academy of Sciences, Shenyang, China
- 3 Shenyang Institute of Automation (SIA), Graduate School of the Chinese Academy of Sciences, Shenyang, China
- 4 Shenyang Institute of Automation (SIA), Graduate School of the Chinese Academy of Sciences, Shenyang, China
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Abstract
Active capsule endoscopy is becoming a research hotspot in recent years. We design an active capsule robot (capsubot) with the vibrational mode. The internal force-static friction control strategy which is used in the capsubot is effective in rigid environment but not in viscoelastic environment. A particular viscoelastic material whose parameters are confirmed is set to the viscoelastic environment. We suppose that it is a periodic damped oscillation system when the capsubot make a free vibration in the environment. We propose a new control strategy whose principle is similar to a swing in the environment. The simulation results show that the new strategy is effective.
KeywordsControl StrategyCapsubotViscoelastic EnvironmentSwing
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