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Dynamic tracking effect of a magnetic navigated dual hemisphere capsule robot

Published online by Cambridge University Press:  22 August 2022

Yongshun Zhang Open the ORCID record for Yongshun Zhang [Opens in a new window] ,
Xu Liu ,
Zhenhu Liu ,
Zihao Zhao ,
Hai Dong  and
Dianlong Wang
Yongshun Zhang*
Affiliation:
Key Laboratory for Precision and Non-Traditional Machining Technology, Ministry of Education, Dalian University of Technology, Dalian , 116023, China
Xu Liu
Affiliation:
Key Laboratory for Precision and Non-Traditional Machining Technology, Ministry of Education, Dalian University of Technology, Dalian , 116023, China
Zhenhu Liu
Affiliation:
Key Laboratory for Precision and Non-Traditional Machining Technology, Ministry of Education, Dalian University of Technology, Dalian , 116023, China
Zihao Zhao
Affiliation:
Key Laboratory for Precision and Non-Traditional Machining Technology, Ministry of Education, Dalian University of Technology, Dalian , 116023, China
Hai Dong
Affiliation:
Key Laboratory for Precision and Non-Traditional Machining Technology, Ministry of Education, Dalian University of Technology, Dalian , 116023, China
Dianlong Wang
Affiliation:
Key Laboratory for Precision and Non-Traditional Machining Technology, Ministry of Education, Dalian University of Technology, Dalian , 116023, China
*
*Corresponding author. E-mail: zyshun@dlut.edu.cn
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Abstract

For diagnostic and therapeutic applications in spacious spots of the gastrointestinal (GI) tract, the single rigid body capsule clinically applied is difficult to realize the fix-point posture adjustment function manipulated by the external permanent magnet system using the static balance control because the posture alignment and the locomotion interfere with each other. To realize this function easily, the dual hemisphere capsule robot (DHCR) is proposed, based on tracking effect—the axis of DHCR keeps tracking the normal orientation of the spatial universal rotating magnetic vector (SURMV). Since tracking effect employs dynamic balance control, dynamic stability of the DHCR system affects posture alignment performance. This paper focuses on posture alignment dynamic modeling and the influence of the magnetic flux density and the angular velocity of the SURMV, along with the damping coefficient of the GI tract surface on stability, obtaining the stability domains of parameters. Furthermore, to reduce error due to the uncertainties in complex GI tract environment, the sliding mode controller based on nominal model is proposed to achieve more accurate dynamic tracking, and Lyapunov theorem is employed to assess stability of controller. Finally, the tracking effect is verified through simulations and experiments, indicating that the fix-point posture adjustment can be realized with higher accuracy and efficiency.

Keywords

tracking effectdual hemisphere capsule robot (DHCR)fix-point posture adjustmentstability domainsliding mode control
Type
Research Article
Information
Robotica , Volume 40 , Issue 12 , December 2022 , pp. 4586 - 4603
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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