磁性微型机器人的自动化操控研究综述

Survey on research for automatic manipulation of magnetic micro-robots

中文关键词  磁驱动  磁性微型机器人  磁性软体微型机器人  闭环控制  路径规划

英文关键词  magnetic actuation  magnetic micro-robot  magnetic soft micro-robot  closed-loop control  path planning

中文摘要

      微型机器人是指尺度在毫米及其以下(几百纳米到几毫米)的一类机器人, 是机器人研究领域的一个重要分支. 低强度电磁场无线操控的微型机器人, 可以在狭小的空间运动, 完成复杂的作业任务, 在微操作、靶向药物输送和体内传感标记等生物医学研究中有着广泛的应用前景. 经历几十年的发展, 研究人员在机器人的结构设计、微纳制作和伺服控制方面贡献了许多重要理论和实践成果. 本文旨在介绍自动化方法在磁性微型机器人中的应用, 主要包含运动建模、闭环控制和路径规划方面的研究内容, 并讨论磁性软体微型机器人在建模与运动控制方面存在的挑战. 最后, 提出磁性微型机器人在控制与规划方面的研究方向.

英文摘要

      Micro-robots are important branch of robotics research, their characteristic lengths are in a range of hundreds nanometers to several millimeters. Micro-robots wirelessly controlled by low-intensity electromagnetic fields can swim in narrow environment and complete complex tasks. There is a wide application prospect in biomedical research such as micromanipulation, targeted drug delivery, and in vivo sensing labeling. During the past decades, many important theoretical and practical methods are proposed in the structural design, micro/nano fabrication, motion planning and servo control of magnetic micro-robots. This article aims to introduce the application of automatic manipulation in magnetic micro-robots, mainly including the motion modeling, closed-loop control and path planning, and also discusses the challenges of magnetic soft micro-robots in modeling and motion control. Finally, the future researches of magnetic micro-robots in control and planning are proposed